TY - GEN
T1 - Control methods of mobile robot rough-terrain trajectory tracking
AU - Yi, Yang
AU - Fu, Mengyin
AU - Hao, Zhu
AU - Xiong, Guangming
AU - Sun, Changsheng
PY - 2010
Y1 - 2010
N2 - This paper presents control methods and simulation experiments of wheeled skid-steering mobile robot trajectory tracking on the rough terrain. According to dynamics analysis of the robot, a motion constraint of the robot is put forward. To address the issue of uncertain disturbance factors during the robot running on the rough terrain, a practical fuzzy lateral control law is presented, and the globally asymptotically stable of the control law is proven. At the same time, according to the requirement of the robot motion control, the longitudinal control law and the sensor pan-tilt control law are also proposed. Using virtual prototype technology, the mobile robot and the experimental field are established on the ADAMS and MATLAB co-simulation platform, and the robot trajectory tracking in the simulation environment is performed. The simulation experimental results indicate that the control methods are robust and effective for the mobile robot running on the rough terrain.
AB - This paper presents control methods and simulation experiments of wheeled skid-steering mobile robot trajectory tracking on the rough terrain. According to dynamics analysis of the robot, a motion constraint of the robot is put forward. To address the issue of uncertain disturbance factors during the robot running on the rough terrain, a practical fuzzy lateral control law is presented, and the globally asymptotically stable of the control law is proven. At the same time, according to the requirement of the robot motion control, the longitudinal control law and the sensor pan-tilt control law are also proposed. Using virtual prototype technology, the mobile robot and the experimental field are established on the ADAMS and MATLAB co-simulation platform, and the robot trajectory tracking in the simulation environment is performed. The simulation experimental results indicate that the control methods are robust and effective for the mobile robot running on the rough terrain.
UR - http://www.scopus.com/inward/record.url?scp=77957859356&partnerID=8YFLogxK
U2 - 10.1109/ICCA.2010.5524376
DO - 10.1109/ICCA.2010.5524376
M3 - Conference contribution
AN - SCOPUS:77957859356
SN - 9781424451951
T3 - 2010 8th IEEE International Conference on Control and Automation, ICCA 2010
SP - 731
EP - 738
BT - 2010 8th IEEE International Conference on Control and Automation, ICCA 2010
T2 - 2010 8th IEEE International Conference on Control and Automation, ICCA 2010
Y2 - 9 June 2010 through 11 June 2010
ER -