DocumentCode
3469684
Title
Localization and control of tracked mobile robots under slip conditions
Author
Gonzalez, R. ; Rodríguez, F. ; Guzman, J.L. ; Berenguel, Manuel
Author_Institution
Dipt. Lenguajes y Comput., Univ. of Almeria, Almeria
fYear
2009
fDate
14-17 April 2009
Firstpage
1
Lastpage
6
Abstract
This paper deals with the localization and trajectory tracking control problems of tracked mobile robots under slip conditions. The proposed control law consists of the modification of a well-known control algorithm based on the feedback linearization technique, in which additional parameters have been included in order to compensate for the slip effects. Furthermore, an indirect Kalman filter has been used to improve the localization of the robot. Real tests show promising results.
Keywords
Kalman filters; mobile robots; position control; feedback linearization technique; indirect Kalman filter; slip conditions; tracked mobile robots; trajectory tracking control; Adaptive control; Greenhouses; Kinematics; Linear feedback control systems; Mechatronics; Mobile robots; Radar tracking; Testing; Trajectory; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics, 2009. ICM 2009. IEEE International Conference on
Conference_Location
Malaga
Print_ISBN
978-1-4244-4194-5
Electronic_ISBN
978-1-4244-4195-2
Type
conf
DOI
10.1109/ICMECH.2009.4957141
Filename
4957141
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