TY - GEN
T1 - Dual Closed-Loop Trajectory Tracking Control of Air-Ground Amphibious Unmanned Platform in Off-Road Terrain
AU - Zhang, Rui
AU - Fan, Wei
AU - Xu, Bin
AU - Tang, Shouxing
AU - Yang, Haiyang
AU - Wang, Yujie
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Air-ground amphibious robots are becoming the focus of research in the field of robotics, and trajectory tracking control has always been a research hotspot in the field of robotics. Due to the fact that air-ground amphibious unmanned platform often operates in off-road terrain where the roads are non-structured, with high unevenness and strong external interference, it is necessary to study trajectory tracking issues in off-road terrain. This paper proposes a dual closed-loop trajectory tracking controller based on the kinematic model of a tracked robot for addressing the insufficient steering issue during trajectory tracking in off-road terrain for air-ground amphibious unmanned platforms. Based on the preview information, the outer loop uses the model predictive control algorithm to solve the ideal value of combined speed and differential speed of tracks on both sides. For the problem of insufficient steering of the platform in a complex environment, the PID method is used to design the feedback control rate to compensate for insufficient steering. The dual closed-loop controller ensures the optimal control of the platform. Finally, the effectiveness of the dual closed-loop control structure is verified by Matlab / Simulink simulation.
AB - Air-ground amphibious robots are becoming the focus of research in the field of robotics, and trajectory tracking control has always been a research hotspot in the field of robotics. Due to the fact that air-ground amphibious unmanned platform often operates in off-road terrain where the roads are non-structured, with high unevenness and strong external interference, it is necessary to study trajectory tracking issues in off-road terrain. This paper proposes a dual closed-loop trajectory tracking controller based on the kinematic model of a tracked robot for addressing the insufficient steering issue during trajectory tracking in off-road terrain for air-ground amphibious unmanned platforms. Based on the preview information, the outer loop uses the model predictive control algorithm to solve the ideal value of combined speed and differential speed of tracks on both sides. For the problem of insufficient steering of the platform in a complex environment, the PID method is used to design the feedback control rate to compensate for insufficient steering. The dual closed-loop controller ensures the optimal control of the platform. Finally, the effectiveness of the dual closed-loop control structure is verified by Matlab / Simulink simulation.
KW - air-ground amphibious platform
KW - dual closed-loop control
KW - insufficient steering
KW - model predictive control
KW - trajectory tracking
UR - http://www.scopus.com/inward/record.url?scp=85180124037&partnerID=8YFLogxK
U2 - 10.1109/ICUS58632.2023.10318473
DO - 10.1109/ICUS58632.2023.10318473
M3 - Conference contribution
AN - SCOPUS:85180124037
T3 - Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023
SP - 168
EP - 173
BT - Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023
A2 - Song, Rong
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE International Conference on Unmanned Systems, ICUS 2023
Y2 - 13 October 2023 through 15 October 2023
ER -