DocumentCode
2622644
Title
Trajectory Control of a Four-Wheel Skid-Steering Vehicle over Soft Terrain using a Physical Interaction Model
Author
Lhomme-Desages, D. ; Grand, Ch ; Guinot, J.-C.
Author_Institution
Lab. de Robotique de Paris
fYear
2007
fDate
10-14 April 2007
Firstpage
1164
Lastpage
1169
Abstract
A model-based control for fast autonomous four-wheel mobile robots on soft soils is developed. This control strategy takes into account slip and skid effects to extend the mobility over planar granular soils. Each wheel is independently actuated by an electric motor. The overall objective is to follow a path roughly at relatively high speed. Some results obtained in dynamic simulation are presented.
Keywords
mobile robots; position control; robot dynamics; slip; stability; dynamic simulation; electric motor; fast autonomous four-wheel mobile robot; four-wheel skid-steering vehicle; model-based control; physical interaction model; planar granular soil; skid effect; slip effect; soft soil; soft terrain; trajectory control; Automatic control; Electric motors; Force control; Kinematics; Mobile robots; Remotely operated vehicles; Robotics and automation; Soil; Vehicle dynamics; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location
Roma
ISSN
1050-4729
Print_ISBN
1-4244-0601-3
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2007.363142
Filename
4209246
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