Abstract

Mobile robots are increasingly being employed in challenging outdoor applications including search and rescue for disaster recovery, construction, mining, agriculture, military and planetary exploration. In this kind of robotic applications, the accuracy and robustness of the motion control system is greatly affected by the occurrence of undesired dynamics effects such as wheel slippage. In this paper a cross-coupled controller is presented that can be integrated with 4-wheeldrive/ 4-wheel-steer robots to optimize the wheel motors’ control algorithm and reduce synchronization errors that would otherwise result in wheel slip with conventional controllers. Experimental results, obtained with an all-terrain rover operating outdoor, are presented to validate this approach showing its effectiveness in reducing slippage and vehicle posture errors.

Autore Pugliese

• Giannoccaro Nicola Ivan , Reina Giulio , Messina Arcangelo

Tutti gli autori

• Reina G. , Giannoccaro N.I. , Messina A.

Titolo volume/Rivista

Non Disponibile

Anno di pubblicazione

2013

ISSN

Non Disponibile

ISBN

Non Disponibile

Numero di citazioni Wos

Nessuna citazione

Ultimo Aggiornamento Citazioni

Non Disponibile

Numero di citazioni Scopus

Non Disponibile

Ultimo Aggiornamento Citazioni

Non Disponibile

Settori ERC

Non Disponibile

Codici ASJC

Non Disponibile