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
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;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.363142
