Path following control of skid-steered wheeled mobile robots at higher speeds on different terrain types

Huskic, Goran; Buck, Sebastian; Zell, Andreas

doi:10.1109/icra.2017.7989430

Cited by 15 publications

(18 citation statements)

References 19 publications

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“…In this paper, the approach proposed by Huskić et al (2017c) has been presented in an extended manner. The theory has been explained more thoroughly, especially detailing the convergence properties of the closed-loop system.…”

Section: Discussionmentioning

confidence: 99%

“…This algorithm we refer to as PBR , using the same naming scheme. Finally, the algorithm proposed in this paper, based on the work in Huskić et al (2017c), is referred to as HBZ .…”

Section: Experimental Evaluationmentioning

confidence: 99%

“…As soon as it approaches the path again, the speed should be increased according to the switch. As stated in Huskić et al (2017c), since skid-steered vehicles behave asymmetrically, depending on the mechanical construction and on the terrain structure, the speed should be adjusted accordingly. This is the reason why a distinction is made whether the vehicle is turning right or left.…”

Section: Speed Controlmentioning

confidence: 99%

“…In Huskić et al (2017c) a robust path following algorithm for skid-steered vehicles is proposed, and experimentally compared against the approaches proposed in Pentzer et al (2014b) and Indiveri et al (2007) at speeds up to 2 . 5 m/s. This paper is based on the work proposed in Huskić et al (2017c), providing the theoretical background in more detail, as well as extending the experimental evaluation, where the maximum speed reaches 6 m/s. The proposed algorithm is compared against the two already-mentioned state-of-the-art algorithms on two different robots: Robotnik Summit XL and Segway RMP 440.…”

Section: Introductionmentioning

confidence: 99%

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High-speed path following control of skid-steered vehicles

Huskic

Buck

Herrb

et al. 2019

The International Journal of Robotics Research

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We present a robust control scheme for skid-steered vehicles that enables high-speed path following on challenging terrains. First, a kinematic model with experimentally identified parameters is constructed to describe the terrain-dependent motion of skid-steered vehicles. Using Lyapunov theory, a nonlinear control law is defined, guaranteeing the convergence of the vehicle to the path. To allow smooth and accurate motion at higher speeds, an additional linear velocity control scheme is proposed, which takes actuator saturation, path following error, and reachable curvatures into account. The combined solution is experimentally evaluated and compared against two state-of-the-art algorithms, by using two different robots on several different terrain types, at different speeds. A Robotnik Summit XL robot is tested on three different terrain types and two different paths at speeds up to [Formula: see text] m/s. A Segway RMP 440 robot is tested on three different terrain types and two different path types at speeds up to [Formula: see text] m/s.

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Section: Discussionmentioning

confidence: 99%

“…This algorithm we refer to as PBR , using the same naming scheme. Finally, the algorithm proposed in this paper, based on the work in Huskić et al (2017c), is referred to as HBZ .…”

Section: Experimental Evaluationmentioning

confidence: 99%

Section: Speed Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

High-speed path following control of skid-steered vehicles

Huskic

Buck

Herrb

et al. 2019

The International Journal of Robotics Research

Self Cite

View full text Add to dashboard Cite

show abstract

“…Ren and Ma [13] designed the trajectory tracking control for an omnidirectional mobile robot, showing that a state observer estimating unknown internal dynamics and external disturbances compensated the friction effects effectively and improved the accuracy in tracking. Path following using a nonlinear Lyapunov-based control law considering a bounded curvature and nonholonomic constraints of a skid-steered mobile robot was presented by Huskic et al [14]; here, experiments show reduction in the mean error at higher speeds on various types of terrain. In [15], a model-based adaptive observer was used to estimate the sliding effect and the cornering stiffness of tires, and to determine the steering angle by backstepping-adaptive control, showing reduction in the mean and the maximum absolute error at low and medium speed in off-road contexts.…”

Section: Introductionmentioning

confidence: 71%

Trajectory Tracking of Wheeled Mobile Robots Using Z-Number Based Fuzzy Logic

et al. 2020

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Being trajectory tracking key for safe mobile robot navigation, Fuzzy Logic (FL) has been useful in tackling uncertainty and imprecision to realize robust and smooth trajectory tracking. In this paper, we present the Z-number based Fuzzy Logic control for trajectory tracking of differential wheeled mobile robots. The unique point of our approach lies in the ability to encode constraint and reliability in multi-input and multi-output rules, whose antecedent universe considers only the instantaneous measurements of distance and the orientation gaps, and whose consequent universe is computed by the interpolative reasoning and the graded mean integration approach. As a consequence, not only our approach avoids the complexity of encoding error gradients, but also is advantageous to model versatile control rules able to cope with missing observations and noisy inducements on actuators. Our experiments using both physics-based simulations and real-world tests based on a Pioneer 3DX robot architecture have elucidated the superior efficacy and the feasibility of the proposed controller regarding accuracy, robustness, and smoothness compared to other well-known related frameworks such as Fuzzy Logic Type 1, Fuzzy Logic Type 2 and Fuzzy Logic with PID. Our results provide unique insights to realize generalizable algorithms aided by FL and Z-number towards robust trajectory tracking.

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Visual-Inertial Localization for Skid-Steering Robots with Kinematic Constraints

Zuo

Zhang

Chen

et al. 2022

Springer Proceedings in Advanced Robotics

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While visual localization or SLAM has witnessed great progress in past decades, when deploying it on a mobile robot in practice, few works have explicitly considered the kinematic (or dynamic) constraints of the real robotic system when designing state estimators. To promote the practical deployment of current state-of-the-art visual-inertial localization algorithms, in this work we propose a low-cost kinematics-constrained localization system particularly for a skid-steering mobile robot. In particular, we derive in a principle way the robot's kinematic constraints based on the instantaneous centers of rotation (ICR) model and integrate them in a tightly-coupled manner into the sliding-window bundle adjustment (BA)-based visual-inertial estimator. Because the ICR model parameters are time-varying due to, for example, track-to-terrain interaction and terrain roughness, we estimate these kinematic parameters online along with the navigation state. To this end, we perform in-depth the observability analysis and identify motion conditions under which the state/parameter estimation is viable. The proposed kinematics-constrained visual-inertial localization system has been validated extensively in different terrain scenarios.

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Path following control of skid-steered wheeled mobile robots at higher speeds on different terrain types

Cited by 15 publications

References 19 publications

High-speed path following control of skid-steered vehicles

High-speed path following control of skid-steered vehicles

Trajectory Tracking of Wheeled Mobile Robots Using Z-Number Based Fuzzy Logic

Visual-Inertial Localization for Skid-Steering Robots with Kinematic Constraints

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