Path Tracking Control of a Mobile Robot by Using Dual Estimation Algorithm | Zendy

Xuan Vinh Ha | Zendy; Cheolkeun Ha | Zendy; Hyoung Sik Choi | Zendy

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Path Tracking Control of a Mobile Robot by Using Dual Estimation Algorithm

Author(s) -

Xuan Vinh Ha,

Cheolkeun Ha,

Hyoung Sik Choi

Publication year - 2013

Publication title -

advances in mechanical engineering

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.318

H-Index - 40

eISSN - 1687-8140

pISSN - 1687-8132

DOI - 10.1155/2013/367127

Subject(s) - mobile robot , slippage , robot , skid (aerodynamics) , computer science , terrain , control theory (sociology) , slip (aerodynamics) , kalman filter , computer vision , traction control system , simulation , algorithm , artificial intelligence , engineering , control (management) , automotive engineering , mechanical engineering , ecology , structural engineering , biology , aerospace engineering

Skid-steered mobile robots have been developed to explore unknown environments, especially in rough terrain situations, where the wheel slips always occur and vary when the robot is traveling with different trajectory shapes. The wheel slippage limits the traction and braking abilities of the robot. In this paper, we propose a new dual estimation algorithm to overcome the previous limitations. The estimated values such as the robot's positions and wheel slips are obtained based on the Kalman filtering technique. As demonstrated by our experimental results, the advantages of the new method are effective to overcome the slip limitations in the path tracking control problem of a four-track wheel skid-steered mobile robot (4-TW SSMR)

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