Paper Info
Title
Vision-Based State Estimation And Trajectory Tracking Control Of Car-Like Mobile Robots With Wheel Skidding And Slipping
Abstract
Most existing trajectory tracking controllers are based on non-skidding and non-slipping assumptions, also assume that full states are accessible, which is unrealistic for real-world applications due to tire-road interaction. This paper presents a novel vision-based approach to achieve high performance tracking control of a Car-Like Mobile Robot (CLMR) with wheel skidding and slippage. A visual estimation algorithm is proposed to provide reliable position, velocity, skidding and slipping information to close the control loop. The stability of the proposed system can be guaranteed by Lyapunov method since the position tracking error and the estimation error converge to zero simultaneously. Simulation is made to validate the effectiveness of the developed controller in the presence of skidding and slipping with online visual estimator.
Year
DOI
Venue
2018
10.1109/IROS.2018.8593982
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Field
DocType
ISSN
Slipping,Lyapunov function,Control theory,Computer science,Control engineering,Control system,Mobile robot,Trajectory,Tracking error,Estimator
Conference
2153-0858
Citations 
PageRank 
References 
1
0.35
0
Authors
7
Name
Order
Citations
PageRank
Shunbo Zhou1235.83
Zhiqiang Miao25010.60
Zhe Liu3232.07
Hongchao Zhao443.13
Wang H546863.98
Haoyao Chen618923.79
Liu YH71540185.05