Vector-Field-Orientation Tracking Control for a Mobile Vehicle Disturbed by the Skid-Slip Phenomena

Michałek, Maciej Marcin; Dutkiewicz, P.; Kiełczewski, Marcin; Pazderski, Dariusz

doi:10.1007/s10846-010-9398-7

Cited by 15 publications

(18 citation statements)

References 18 publications

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“…In this work, the VFO control feedback method is applied to high-level closed-loop control of the robot's position [7][8][9][10]. The kinematics modelling of the 4-TW SSMR can be expressed as…”

Section: The Vfo Feedback Control Methodsmentioning

confidence: 99%

“…Also in [10], the extended VFO control method for a mobile vehicle was proposed to compensate for skid-slip phenomena.…”

Section: Introductionmentioning

confidence: 99%

“…First, the tuning fuzzy Vector Field Orientation (FVFO) feedback control method is proposed for a 4-TW SSMR. While the stable tracking control in [3] and conventional VFO feedback control methods in [7][8][9][10] do not perform well over a wide range of operating conditions because of the fixed gains used, the FVFO used the FLC to tune parameters of the VFO method. That is the flexibility of the proposed method, thanks to which we are able to obtain more precise trajectories.…”

Section: Introductionmentioning

confidence: 99%

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Fuzzy Vector Field Orientation Feedback Control-Based Slip Compensation for Trajectory Tracking Control of a Four Track Wheel Skid-steered Mobile Robot

Lee³

2013

International Journal of Advanced Robotic Systems

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Skid-steered mobile robots have been widely used in exploring unknown environments and in military applications. In this paper, the tuning fuzzy Vector Field Orientation (FVFO) feedback control method is proposed for a four track wheel skid-steered mobile robot (4-TW SSMR) using flexible fuzzy logic control (FLC). The extended Kalman filter is utilized to estimate the positions, velocities and orientation angles, which are used for feedback control signals in the FVFO method, based on the AHRS kinematic motion model and velocity constraints. In addition, in light of the wheel slip and the braking ability of the robot, we propose a new method for estimating online wheel slip parameters based on a discrete Kalman filter to compensate for the velocity constraints. As demonstrated by our experimental results, the advantages of the combination of the proposed FVFO and wheel slip estimation methods overcome the limitations of the others in the trajectory tracking control problem for a 4-TW SSMR.

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Section: The Vfo Feedback Control Methodsmentioning

confidence: 99%

“…Also in [10], the extended VFO control method for a mobile vehicle was proposed to compensate for skid-slip phenomena.…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Fuzzy Vector Field Orientation Feedback Control-Based Slip Compensation for Trajectory Tracking Control of a Four Track Wheel Skid-steered Mobile Robot

Lee³

2013

International Journal of Advanced Robotic Systems

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“…W większości zastosowań robotów o lokomocji wielokołowo-ślizgowej pomijana jest kwestia wpływu poślizgu na precyzję ruchu pojazdu. W proponowanym podejściu zostaną zastosowane metody szacowania i aktywnej kompensacji wpływu poślizgów [19,20,11]. Pozwoli poprawić jakość odtwarzania sygnałów zadanych, a tym samym zwiększy precyzję realizacji ruchu robota.…”

Section: Zadanie "Sterowanie I Nawigacja" W Projekcie Robrexunclassified

Wheeled mobile platform for research purposes

Kozłowski

Pazderski

Michalski

et al. 2014

PAR

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“…In another approach, vector field orientation (VFO) feedback control method is a motivating control technique to calculate such linear and angular velocities for DDVs. The reader can refer to [13] (an application for a Four wheel drive skid-steered mobile robot), [14] (VFO for a DDV) and [15] (an extension of VFO in the case of skid-slip phenomena). In this work, the VFO control feedback method is applied for the high-level closed-loop control of the robot position in a 2D plane.…”

Section: The Implemented Controlmentioning

confidence: 99%

Path Tracking Control of a Mobile Robot by Using Dual Estimation Algorithm

Choi

2013

Advances in Mechanical Engineering

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Skid-steered mobile robots have been developed to explore unknown environments, especially in rough terrain situations, where the wheel slips always occur and vary when the robot is traveling with different trajectory shapes. The wheel slippage limits the traction and braking abilities of the robot. In this paper, we propose a new dual estimation algorithm to overcome the previous limitations. The estimated values such as the robot's positions and wheel slips are obtained based on the Kalman filtering technique. As demonstrated by our experimental results, the advantages of the new method are effective to overcome the slip limitations in the path tracking control problem of a four-track wheel skid-steered mobile robot (4-TW SSMR).

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Vector-Field-Orientation Tracking Control for a Mobile Vehicle Disturbed by the Skid-Slip Phenomena

Cited by 15 publications

References 18 publications

Fuzzy Vector Field Orientation Feedback Control-Based Slip Compensation for Trajectory Tracking Control of a Four Track Wheel Skid-steered Mobile Robot

Fuzzy Vector Field Orientation Feedback Control-Based Slip Compensation for Trajectory Tracking Control of a Four Track Wheel Skid-steered Mobile Robot

Wheeled mobile platform for research purposes

Path Tracking Control of a Mobile Robot by Using Dual Estimation Algorithm

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