Paper Info
Title
State and parameters observation for accurate off-road navigation of wheeled mobile robots
Abstract
This paper addresses the problem of accurate and reliable path following of a heavy industrial mobile robot evolving with centimetric accuracy requirement. For this purpose sliding estimation is a crucial issue, even more in off-road context with uneven and slippery terrains. So, we focus on position and sliding observers design in function of the distance covered, thus allowing to carry on maneuvers at any operational speed with constant accuracy. Furthermore, these observers are not affected by path tracking errors. Implementation in simulation demonstrates efficiency of such algorithms.
Year
DOI
Venue
2015
10.1109/ARSO.2015.7428200
2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)
Keywords
Field
DocType
Sliding Estimation,Extended Kalman Filter,Mobile Robotics
Robot control,Kinematics,Simulation,Computer science,Terrain,Path following,Mobile robot,Path tracking
Conference
Citations 
PageRank 
References 
0
0.34
6
Authors
2
Name
Order
Citations
PageRank
Eric Lucet124.48
Alain Micaelli29814.12