DocumentCode
1870506
Title
Stabilization algorithm for a high speed car-like robot achieving steering maneuver
Author
Lucet, E. ; Grand, Ch ; Salle, D. ; Bidaud, Ph
Author_Institution
Inst. des Syst. Intelligents et de Robot., Univ. of Paris6, Paris
fYear
2008
fDate
19-23 May 2008
Firstpage
2540
Lastpage
2545
Abstract
This paper deals with design and implementation of a stabilization algorithm for a car like robot performing high speed turns. The control of such a kind of system is rather difficult because of the complexity of the physical wheel- soil interaction model. In this paper, it is planned to analyze the complex dynamic model of this process to elaborate a stabilization algorithm only based on the measurement of the system yaw rate. Finally, a 3D simulation is performed to evaluate the efficiency of this designed stabilization algorithm.
Keywords
automobiles; mobile robots; robot dynamics; stability; complex dynamic model; high speed car-like robot; physical wheel-soil interaction model; stabilization algorithm; steering maneuver; Algorithm design and analysis; Consumer electronics; Electrostatic precipitators; Intelligent robots; Kinematics; Mobile robots; Robotics and automation; Stability; Vehicle dynamics; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location
Pasadena, CA
ISSN
1050-4729
Print_ISBN
978-1-4244-1646-2
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2008.4543595
Filename
4543595
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