Path Tracking of a Bi-steerable Mobile Robot: An Adaptive Off-road Multi-control Law Strategy

Roland Lenain, Ange Nizard, Mathieu Deremetz, Benoit Thuilot, Vianney Papot, Christophe Cariou

2018

Abstract

This paper proposes a path tracking control algorithm dedicated to off-road mobile robots equipped with two steering axles. Four wheel steering mobile robot allows to enhanced motion capability with respect to classical car-like mobile robot, while reducing the friction induced by the skid-steered architecture. In particular, such a kinematic structure makes it possible to independently control the robot heading and its position, or to increase turning capabilities. In this paper, a strategy is developed in order to reduce the space required when achieving manoeuvres around a desired trajectory. Contrarily to classical point of view, expressing a relationship between the front and rear wheels, the control laws here proposed aim at following the same path for the front and the rear centre of the axle. The robot is then split into two subsystems, regulating two lateral deviations with respect to a desired trajectory.

Paper Citation

in Harvard Style

Lenain R., Deremetz M., Thuilot B. and Cariou C. (2018). Path Tracking of a Bi-steerable Mobile Robot: An Adaptive Off-road Multi-control Law Strategy.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 163-170. DOI: 10.5220/0006865801630170

in Bibtex Style

@conference{icinco18,
author={Roland Lenain and Mathieu Deremetz and Benoit Thuilot and Christophe Cariou},
title={Path Tracking of a Bi-steerable Mobile Robot: An Adaptive Off-road Multi-control Law Strategy},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={163-170},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006865801630170},
isbn={978-989-758-321-6},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Path Tracking of a Bi-steerable Mobile Robot: An Adaptive Off-road Multi-control Law Strategy
SN - 978-989-758-321-6
AU - Lenain R.
AU - Deremetz M.
AU - Thuilot B.
AU - Cariou C.
PY - 2018
SP - 163
EP - 170
DO - 10.5220/0006865801630170