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Robust sideslip angles observer for accurate off-road path tracking control

Abstract : This paper proposes a control strategy to achieve high accurate path tracking in off-road conditions. The approach is based on adaptive and predictive techniques to account for sliding effects and actuator properties. An extended kinematic model is designed using sideslip angles definition. An observer is proposed to estimate online these variables, independently from the reference path and robot velocity. Thanks to the proposed approach, high accurate path tracking can then be achieved whatever the shape of the reference path and the task to be achieved (practical stabilization or moving object tracking).
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https://hal.uca.fr/hal-01658404
Contributor : Benoit Thuilot <>
Submitted on : Saturday, May 16, 2020 - 1:51:25 PM
Last modification on : Tuesday, June 2, 2020 - 2:04:04 PM

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Roland Lenain, Mathieu Deremetz, Jean-Baptiste Braconnier, Benoit Thuilot, Vincent Rousseau. Robust sideslip angles observer for accurate off-road path tracking control. Advanced Robotics, Taylor & Francis, 2017, 31 (9), pp.453 - 467. ⟨10.1080/01691864.2017.1280414⟩. ⟨hal-01658404⟩

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