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The path following problem for autonomous vehicles (AVs) is investigated in this paper. The desired value of the vehicle heading is commonly chosen as the tangent direction at the orthogonal projection point of vehicle CG (center of gravity) on the desired path. This paper points out that the traditional definition of the desired heading may deteriorate the path following performance, especially when...
This paper proposes a competition of inverted pendulum type two-wheeled robot vehicle on MCR (Micom car rally) course. The control theory of inverted pendulum type vehicle is already established. But the control technology used in this system is not commonly in education among undergraduate students of university. The proposed competition will be done by using commercially developed small and low...
The paper addresses autonomous motion control (path-following in particular) of an articulated-frame-steering (AFS) hydraulically actuated mobile machine. We first propose a kinematic model of the vehicle, together with a simple model for steering hydraulic actuator. The kinematic model is derived under simplifying assumptions that there are no slipping and no skidding. The accuracy of the model is...
Mobile robots are used to venture through types of environments, at low wheel speeds, where wheel slip is a threat. We present a unique traction estimation algorithm for low speed applications that estimates traction loss by measuring the wheel slip velocity. We also propose a modified Kalman Filter that fuses a system model of a DC motor with an estimate of the disturbances acting on the system model...
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...
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