UKF based estimation and tracking control of nonholonomic mobile robots with slipping

Author

Zhou, Bo ; Peng, Yan ; Han, Jianda

Author_Institution

Robot. Lab., Chinese Acad. of Sci., Shenyang

fYear

2007

fDate

15-18 Dec. 2007

Firstpage

2058

Lastpage

2063

Abstract

A kinematic model of tracked vehicles is established in this paper, in which both longitudinal and lateral slipping is considered and processed as three time-varying parameters. Unscented Kalman filter is then introduced to real time estimate the pose and slipping parameters jointly. A stable tracking control law for this nonholonomic system is proposed and the asymptotic stability is guaranteed by Lyapunov theory. Simulation results show the efficiency and robustness of the proposed method.

Keywords

Kalman filters; Lyapunov methods; asymptotic stability; mobile robots; parameter estimation; robot kinematics; time-varying systems; tracking; Lyapunov theory; asymptotic stability; kinematic model; longitudinal-lateral slipping; nonholonomic mobile robots; pose estimation; simulation; stable tracking control law; time-varying parameter estimation; unscented Kalman filter; Asymptotic stability; Biomimetics; Control systems; Kinematics; Laboratories; Mobile robots; Remotely operated vehicles; Robotics and automation; Robustness; Vehicle dynamics; Nonholonomic mobile robot; Nonlinear estimation; Tracking control; Unscented Kalman filter;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on

Conference_Location

Sanya

Print_ISBN

978-1-4244-1761-2

Electronic_ISBN

978-1-4244-1758-2

Type

conf

DOI

10.1109/ROBIO.2007.4522485

Filename

4522485