Next Article in Journal
Development of a Novel Two Dimensional Surface Plasmon Resonance Sensor Using Multiplied Beam Splitting Optics
Next Article in Special Issue
About Non-Line-Of-Sight Satellite Detection and Exclusion in a 3D Map-Aided Localization Algorithm
Previous Article in Journal
Mechatronic Description of a Laser Autoguided Vehicle for Greenhouse Operations
Previous Article in Special Issue
A Smartphone-Based Driver Safety Monitoring System Using Data Fusion
Sensors 2013, 13(1), 785-800; doi:10.3390/s130100785

Cross-Coupled Control for All-Terrain Rovers

Department of Engineering for Innovation, University of Salento, via Arnesano, 73100 Lecce, Italy
Received: 28 September 2012 / Revised: 2 January 2013 / Accepted: 4 January 2013 / Published: 8 January 2013
(This article belongs to the Special Issue New Trends towards Automatic Vehicle Control and Perception Systems)
View Full-Text   |   Download PDF [4359 KB, uploaded 21 June 2014]   |  


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 all-terrain rovers; motion control; slippage reduction
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

Share & Cite This Article

Further Mendeley | CiteULike
Export to BibTeX |
EndNote |
MDPI and ACS Style

Reina, G. Cross-Coupled Control for All-Terrain Rovers. Sensors 2013, 13, 785-800.

View more citation formats

Related Articles

Article Metrics

For more information on the journal, click here


[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert