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Accurate target tracking control for a mobile robot: A robust adaptive approach for off-road motion

Abstract : In this paper a control strategy for a mobile robot enabling to track a manually driven vehicle or a moving target is proposed in the context of natural environment. In such a context, the motion does not meet classical assumptions usually proposed for mobile robots, since the terrain geometry is not necessarily flat and wheels are subject to sliding. As a result, in order to preserve the accuracy of tracking, it appears necessary to account for such phenomena in the control law. Several observer-based approaches have already been developed in the framework of path following in off-road conditions, but suffer from several limitations. In particular, the velocity should not be null, which appears to be an important drawback in the proposed application: the tracking of a non-autonomous vehicle indeed imposes possible stops. In this paper, a new observation strategy is proposed allowing to avoid non-observable situations (null velocity). This permits to achieve an accurate vehicle tracking whatever its velocity, its trajectory and the grip conditions.
Keywords : OBSERVATION
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https://hal.inrae.fr/hal-02603656
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Submitted on : Saturday, May 16, 2020 - 9:02:16 AM
Last modification on : Wednesday, September 28, 2022 - 3:11:26 PM

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R. Lenain, B. Thuilot, A. Guillet, B. Benet. Accurate target tracking control for a mobile robot: A robust adaptive approach for off-road motion. 2014 IEEE International Conference on Robotics and Automation (ICRA), May 2014, Hong Kong, pp.2652-2657, ⟨10.1109/ICRA.2014.6907239⟩. ⟨hal-02603656⟩

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