Adaptive Trajectory Tracking Control of Skid-Steered Mobile Robots

Author

Yi, Jingang ; Song, Dezhen ; Zhang, Junjie ; Goodwin, Zane

Author_Institution

Dept. of Mech. Eng., San Diego State Univ., CA

fYear

2007

fDate

10-14 April 2007

Firstpage

2605

Lastpage

2610

Abstract

Skid-steered mobile robots have been widely used for terrain exploration and navigation. In this paper, we present an adaptive trajectory control design for a skid-steered wheeled mobile robot. Kinematic and dynamic modeling of the robot is first presented. A pseudo-static friction model is used to capture the interaction between the wheels and the ground. An adaptive control algorithm is designed to simultaneously estimate the wheel/ground contact friction information and control the mobile robot to follow a desired trajectory. A Lyapunov-based convergence analysis of the controller and the estimation of the friction model parameter are presented. Simulation and preliminary experimental results based on a four-wheel robot prototype are demonstrated for the effectiveness and efficiency of the proposed modeling and control scheme

Keywords

Lyapunov methods; adaptive control; friction; mobile robots; navigation; position control; robot dynamics; robot kinematics; Lyapunov-based convergence analysis; adaptive trajectory tracking control; contact friction; navigation; pseudostatic friction model; robot dynamic modeling; robot kinematic modeling; skid-steered mobile robots; terrain exploration; wheel-ground interaction; Adaptive control; Algorithm design and analysis; Control design; Friction; Kinematics; Mobile robots; Navigation; Programmable control; Trajectory; 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.2007.363858

Filename

4209476