Trajectory Control of a Four-Wheel Skid-Steering Vehicle over Soft Terrain using a Physical Interaction Model

Abstract

Abstract-A model-based control for fast autonomous fourwheel mobile robots on soft soils is developed. This control strategy takes into account slip and skid effects to extend the mobility over planar granular soils. Each wheel is independently actuated by an electric motor. The overall objective is to follow a path roughly at relatively high speed. Some results obtained in dynamic simulation are presented.

A multi-mode real-time terrain parameter estimation method for wheeled motion control of mobile robots

“…The wheel-terrain interaction model reflects the effect of wheel slipping and terrain type to the wheel-terrain forces, so it is embedded into the control architecture of wheel motion to compensate the influence of wheel slipping on soft terrain [3,4]. The motion control architecture with slip compensation is shown in Fig.…”

“…Slipping of the wheels is inevitable, making the traversing a difficult task. To establish the energy-efficient control of slipping motion on soft terrain, it is a prerequisite to model the wheel-terrain interaction precisely for slip compensation [3][4][5].…”

Sliding-Mode Velocity and Yaw Control of a 4WD Skid-Steering Mobile Robot

“…It is also necessary to correct the lateral error; otherwise, the system will aim towards a movement parallel to the reference path, not necessarily reaching it. This is why we are going to modify the desired yaw angle, as proposed in other works [9].…”

Doppler-Based Ground Speed Sensor Fusion and Slip Control for a Wheeled Rover

“…In a previous work [5], we proposed a model-based controler applied to a skid-steering autonomous mobile robot evolving at high velocity on soft soils such as sand, where slip and skid phenomena can be significant. Slippage was taken into account, not as a perturbation, but as a genuine input that we intended to use in order to master traction forces.…”