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Mobile robot path tracking of aggressive maneuvers on sloped terrain
MIT, USA.
MIT, USA.
2008 (English)In: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) / [ed] Raja Chatila, Alonzo Kelly & Jean-Pierre Merlet, Piscataway, N.J.: IEEE Robotics and Automation Society, 2008, 242-247 p.Conference paper, Published paper (Refereed)
Abstract [en]

Path tracking control on non-flat terrain is an important capability of mobile robots operating in outdoor environments. A path tracking controller based on the model predictive control (MPC) framework is presented that explicitly considers terrain geometry and actuator limitations. The controller performance is studied with three vehicle dynamic models in a high-fidelity ADAMS simulation. The effect of model order on path tracking performance on flat terrain and sloped terrain is evaluated. It is shown that improved performance can be obtained by explicitly considering terrain effects. ©2008 IEEE.

Place, publisher, year, edition, pages
Piscataway, N.J.: IEEE Robotics and Automation Society, 2008. 242-247 p.
Keyword [en]
Adams simulation, Controller performance, Flat terrains, High fidelity, Model order, Outdoor environment, Path tracking, Path tracking control, Sloped terrains, Terrain effect, Terrain geometry, Vehicle dynamic model
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20767DOI: 10.1109/IROS.2008.4650653ISI: 000259998200039Scopus ID: 2-s2.0-69549121871ISBN: 978-142442058-2 OAI: oai:DiVA.org:hh-20767DiVA: diva2:586732
Conference
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) : Acropolis convention center, Nice, France September 22-26, 2008
Available from: 2013-01-12 Created: 2013-01-12 Last updated: 2013-01-29Bibliographically approved

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Total: 85 hits
CiteExportLink to record
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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
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Output format
  • html
  • text
  • asciidoc
  • rtf