A Stable Tracking Control of Skid Steered Mobile Platform

Seungwoo Jeon, Wootae Jeong, Duckshin Park

Abstract

The skid steering technique has been widely used in controlling mobile vehicles without steering wheels because of light-weight and relatively simple structural configuration for steering motion control. However, since the skid controlled mobile platform system is based on nonholonomic constraint, it is essential to linearizing the nonlinear dynamic model of the vehicle for improving the stability of traction control. Recently developed ventilation duct cleaning robot with moving brushing arm also utilizes the skid steering system for traction control. Since the moving brush arm may change the mass center of the platform and effect on dynamics consequently, a new control scheme is suggested and simulated to achieve the stable trajectory tracking and driving motion of the developed mobile platform

References

  1. Kanayama, Y., Kimura, Y., Miyazaki, F., Noguchi, T., 1991. A stable tracking control method for a nonholonomic mobile robot. IEEE/RSJ Int. Workshop Intelligent Robots and Systems, pp.1236-1241.
  2. Samson, C., Ait-Abderrahim, K., 1991. Feedback control of a nonholonomic wheeled cart in Cartesian space. in Proc. IEEE Int. Conf. Robotics and Automation, pp.1136-1141.
  3. Sampei, M., Tamura, T., Itoh, T., Nakamichi, M., 1991. Path tracking control of trailer-like mobile robot. in Proc. IEEE/RSJ Int. Workshop Intelligent Robots and Systems, pp. 193-198.
  4. Fukao, T., Nakagawa, H., Adachi, N., 2000. Adaptive Tracking Control of a Nonholonomic Mobile Robot. IEEE Transactions on Robotics and Automation, Vol. 16(5), pp.609-615.
  5. Shojaei, K.,Shahri, A. M., 2012. Output feedback tracking control of uncertain non-holonomic wheeled mobile robots: a dynamic surface control approach, IET Control Theory and Applications, Vol6(2), pp. 216- 228.
  6. Marvin, K. B., Simon G. F.,Liberatoi, C., 2009. Dual Adaptive Dynamic Control of Mobile Robots Using Neural Networks, IEEE Trans. on Systems, Man, and Cybernetics, Vol.39(1), pp. 129-141.
  7. Bekker, M. G., 1969. Introduction to Terrain-Vehicle Systems, Ann Arbor, MI: University of Michigan Press.
  8. Wong, J. Y., 2001. Theory of ground vehicles, John Wiley and Son,3rd edition.
  9. Caracciolo, L., 1999.Trajectory Tracking Control of a Four-Wheel Differentially Driven Mobile Robot, IEEE International Conference on Robotics and Automation, pp.2632-2638.IEEE.
  10. Yi, J.,Song, D.,Zhang, J., Goodwin, Z., 2007.Adaptive Trajectory Tracking Control of Skid-Steered Mobile Robots, IEEE Conference on Robotics and Automations,pp.2605-2610. IEEE.
  11. Anthony, M., Jorge, L. M.,Jesus, M., Jose, L. B.,2007.experimental kinematics for wheeled skidsteer mobile robots, Proc. IEEE/RSJ Int. Conference of Intelligent Robots System, San Diego, pp.1222-1227.
  12. Jeong, W.,Jeon, S., Park, D., Kwon, S.,2013.Surface Cleaning Force Control of Rotating Brushes For an Air Duct Cleaning Robot, International Conference on Informatics in Control, Automation and Robotics(ICINCO), pp. 453-457. SCITEPRESS.
  13. De Luca, A., Oriolo, G., Samson, C., 1998, Feedback control of a nonholonomic car-like robot, in J. P. Laumond (Ed.) Robot Motion Planning and Control, Lecture Notes in Control and Information Sciences, Vol. 229, pp.171-253, Springer-Verlag, London.
  14. Will, A. B., Zak, S. H., 1997. Modeling and control of an automated vehicle, Vehicle System Dynamics, Vol. 27, pp.131-155.SWETS AND ZEITLINGER.
  15. Yang, J., Kim, J., 1999.Sliding Mode Control for Trajectory Tracking of Nonholonomic Wheeled Mobile Robots, IEEE Transactions on Robotics and Automation, Vol. 15, No. 3, pp.578-587.
Download


Paper Citation


in Harvard Style

Jeon S., Jeong W. and Park D. (2014). A Stable Tracking Control of Skid Steered Mobile Platform . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 556-561. DOI: 10.5220/0005113305560561


in Bibtex Style

@conference{icinco14,
author={Seungwoo Jeon and Wootae Jeong and Duckshin Park},
title={A Stable Tracking Control of Skid Steered Mobile Platform},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={556-561},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005113305560561},
isbn={978-989-758-040-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A Stable Tracking Control of Skid Steered Mobile Platform
SN - 978-989-758-040-6
AU - Jeon S.
AU - Jeong W.
AU - Park D.
PY - 2014
SP - 556
EP - 561
DO - 10.5220/0005113305560561