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Cross-Coupled Control for All-Terrain Rovers
Department of Engineering for Innovation, University of Salento, via Arnesano, 73100 Lecce, Italy
Received: 28 September 2012; in revised form: 2 January 2013 / Accepted: 4 January 2013 / Published: 8 January 2013
Abstract: Mobile robots are increasingly being used in challenging outdoor environments for applications that include construction, mining, agriculture, military and planetary exploration. In order to accomplish the planned task, it is critical that the motion control system ensure accuracy and robustness. The achievement of high performance on rough terrain is tightly connected with the minimization of vehicle-terrain dynamics effects such as slipping and skidding. This paper presents a cross-coupled controller for a 4-wheel-drive/4-wheel-steer robot, which optimizes the wheel motors’ control algorithm to reduce synchronization errors that would otherwise result in wheel slip with conventional controllers. Experimental results, obtained with an all-terrain rover operating on agricultural terrain, are presented to validate the system. It is shown that the proposed approach is effective in reducing slippage and vehicle posture errors.
Keywords: all-terrain rovers; motion control; slippage reduction
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MDPI and ACS Style
Reina, G. Cross-Coupled Control for All-Terrain Rovers. Sensors 2013, 13, 785-800.
Reina G. Cross-Coupled Control for All-Terrain Rovers. Sensors. 2013; 13(1):785-800.
Reina, Giulio. 2013. "Cross-Coupled Control for All-Terrain Rovers." Sensors 13, no. 1: 785-800.