A Simplified Optimal Path Following Controller for an Agricultural Skid-Steering Robot
The dynamics of a skid-steering robot present intrinsic non-linearities that make the design and implementation of a controller a very complex task, time-consuming, and difficult to implement into an embedded system with limited resources. This paper presents a simplified first order digital model a...
| Autores: | , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2019 |
| País: | España |
| Institución: | Universidad Nacional de Educación a Distancia |
| Repositorio: | e-spacio. Repositorio Institucional de la UNED |
| Idioma: | inglés |
| OAI Identifier: | oai:e-spacio.uned.es:20.500.14468/29821 |
| Acceso en línea: | https://hdl.handle.net/20.500.14468/29821 |
| Access Level: | acceso abierto |
| Palabra clave: | 1203.17 Informática Agricultural robotics autonomous off-road vehicles digital control guidance control optimal control path following skid-steering robot robotics UGV |
| Sumario: | The dynamics of a skid-steering robot present intrinsic non-linearities that make the design and implementation of a controller a very complex task, time-consuming, and difficult to implement into an embedded system with limited resources. This paper presents a simplified first order digital model approximation and an optimal observer-based control approach for the tracking of the lateral position of such robots. In order to verify the validity of this proposal, 3D real-time interactive simulations and real validations with an agricultural skid-steering robot were performed with satisfactory results. |
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