Adaptive trajectory tracking control of skid-steered mobile robots
Additional Document Info
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 Lyapunovbased convergence analysis of the controller and the estimation of the friction model parameter is 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. 2007 IEEE.
name of conference
Proceedings 2007 IEEE International Conference on Robotics and Automation