Maneuverability and path following control of wheeled mobile robot in the presence of wheel skidding and slipping

Abstract

This paper addresses the path following control problem of wheeled mobile robots in the presence of wheel skidding and slipping. A conditional global positioning system (GPS)-based path following controller is proposed for four generic WMRs to achieve high-precision path following performance. The proposed controller utilizes real-time kinematic-GPS and other aiding sensors to determine the robot's pose and wheel skidding and slipping perturbations to achieve accurate path following control. The reported simulation and experimental results suggest that with this control scheme, the WMRs are able to maneuver with precision. C 2009Wiley Periodicals, Inc.

Receding horizon estimation and control with structured noise blocking for mobile robot slip compensation

“…Kinematic representations relating perturbations to vehicle slip are presented in [8] for four general WMR configurations, classifying slip perturbations as input-additive, inputmultiplicative or matched/unmatched. These are utilised in [9] to design path following controllers which, assuming no other disturbances, apply backstepping techniques and prove the ultimate boundedness of the tracking errors.…”

Modeling and Analysis in Trajectory Tracking Control for Wheeled Mobile Robots with Wheel Skidding and Slipping: Disturbance Rejection Perspective

“…The proposed controller utilized real-time kinematic-GPS and other aiding sensors to determine the robot's pose and achieved the path following performance. Similarly, the tracking control scheme based on GPS was developed for typical car-like WMR by using a kinematic model to address the skidding and slipping effect in [16]. Dixon et al [17] introduced the robust tracking and regulation controller by establishing the system kinematics with wheel skidding, based on the previous research in [18].…”

Analysis of factors affecting steering performance of wheeled skid‐steered vehicles

“…In [6], Yu et al developed a dynamic model of wheeled skid‐steered vehicle for analysing planar (two‐dimensional (2D)) motion and linear 3D motion. Low and Wang [7] provided a way to control the trajectory and the posture of the wheeled skid‐steered vehicles based on GPS.…”