Path-following control of a velocity constrained tracked vehicle incorporating adaptive slip estimation

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Abstract

This work presents a model predictive path-following controller, which incorporates adaptive slip estimation for a tracked vehicle. Tracked vehicles are capable of manoeuvring in highly variable and uneven terrain, but difficulties in their control have traditionally limited their use as autonomous platforms. Attempts to compensate for slip in environments typically require that both the forward and rotational velocities of a platform be determined, but this can be challenging. This paper shows that it is possible to estimate vehicle traction using only a rate gyroscope, by providing a suitable adaptive least squares estimator to do so. An approach to generating slip compensating controls when platform velocity constraints are applied is also presented. The approach is controller independent, but we make use of a model predictive controller, vulnerable to the effects of model-plant mismatch, to highlight the efficacy of the proposed estimation and compensation. Path following results using a mixture model to generate feasible slip values are presented, and show a significant increase in controller performance.

Original languageEnglish
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages97-102
Number of pages6
ISBN (Print)9781467314039
DOIs
Publication statusPublished - 2012
Externally publishedYes
EventIEEE International Conference on Robotics and Automation 2012 - Minneapolis, United States of America
Duration: 14 May 201218 May 2012
https://ieeexplore.ieee.org/xpl/conhome/6215071/proceeding (Proceedings)

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

ConferenceIEEE International Conference on Robotics and Automation 2012
Abbreviated titleICRA 2012
CountryUnited States of America
CityMinneapolis
Period14/05/1218/05/12
Internet address

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