R. González, F. Rodríguez, J. L. Guzmán, M. Berenguel
{"title":"Localization and control of tracked mobile robots under slip conditions","authors":"R. González, F. Rodríguez, J. L. Guzmán, M. Berenguel","doi":"10.1109/ICMECH.2009.4957141","DOIUrl":null,"url":null,"abstract":"This paper deals with the localization and trajectory tracking control problems of tracked mobile robots under slip conditions. The proposed control law consists of the modification of a well-known control algorithm based on the feedback linearization technique, in which additional parameters have been included in order to compensate for the slip effects. Furthermore, an Indirect Kalman Filter has been used to improve the localization of the robot. Real tests show promising results.","PeriodicalId":414967,"journal":{"name":"2009 IEEE International Conference on Mechatronics","volume":"49 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2009-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"28","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2009 IEEE International Conference on Mechatronics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICMECH.2009.4957141","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 28
Abstract
This paper deals with the localization and trajectory tracking control problems of tracked mobile robots under slip conditions. The proposed control law consists of the modification of a well-known control algorithm based on the feedback linearization technique, in which additional parameters have been included in order to compensate for the slip effects. Furthermore, an Indirect Kalman Filter has been used to improve the localization of the robot. Real tests show promising results.
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