Modeling and control of a skid-steering mobile platform with coupled side wheels

• Autorzy: Tchoń K. , Zadarnowska K. , Juszkiewicz Ł. , Arent K.

Identyfikatory

DOI

10.1515/bpasts-2015-0092

• Języki publikacji: EN

Abstrakty

EN

This study is devoted to the modeling and control of a 4-wheel, skid-steering mobile platform with coupled side wheels, subject to lateral and longitudinal slips. The dynamics equations of the platform are derived, and 16 variants of motion distinguished. For the variant of motion allowing for all possible slips of the wheels two control problems are addressed: the motion planning problem and the trajectory tracking problem. The former problem is solved by means of a Jacobian motion planning algorithm based on the Endogenous Configuration Space Approach and, complementarily, using the Optimal Control Approach. The Nonlinear Model Predictive Control is applied to the latter problem. Performance of these control algorithms is illustrated by a sort of the parking problem. Significant robustness of the predictive control algorithm against the model uncertainty is revealed.

Słowa kluczowe

EN

wheeled mobile platform; dynamics; motion planning; trajectory tracking

PL

koła; platforma mobilna; dynamika; planowanie ruchu; śledzenie trajektorii

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2015
• Tom: Vol. 63, nr 3
• Strony: 807--818
• Opis fizyczny: Bibliogr. 27 poz., rys., wykr.

Twórcy

autor

Tchoń K.

• Chair of Cybernetics and Robotics, Electronics Faculty, Wrocław University of Technology, 11/17 Janiszewskiego St., 50-372 Wrocław, Poland

autor

Zadarnowska K.

• Chair of Cybernetics and Robotics, Electronics Faculty, Wrocław University of Technology, 11/17 Janiszewskiego St., 50-372 Wrocław, Poland

autor

Juszkiewicz Ł.

• Chair of Cybernetics and Robotics, Electronics Faculty, Wrocław University of Technology, 11/17 Janiszewskiego St., 50-372 Wrocław, Poland
• Chair of Cybernetics and Robotics, Electronics Faculty, Wrocław University of Technology, 11/17 Janiszewskiego St., 50-372 Wrocław, Poland

autor

Arent K.

• Chair of Cybernetics and Robotics, Electronics Faculty, Wrocław University of Technology, 11/17 Janiszewskiego St., 50-372 Wrocław, Poland

Bibliografia

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