Path-following control of a velocity constrained tracked vehicle incorporating adaptive slip estimation

Michael Burke

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This work presents a model predictive path-following controller, which incorporates adaptive slip estimation for a tracked vehicle. Tracked vehicles are capable of manoeuvring in highly variable and uneven terrain, but difficulties in their control have traditionally limited their use as autonomous platforms. Attempts to compensate for slip in environments typically require that both the forward and rotational velocities of a platform be determined, but this can be challenging. This paper shows that it is possible to estimate vehicle traction using only a rate gyroscope, by providing a suitable adaptive least squares estimator to do so. An approach to generating slip compensating controls when platform velocity constraints are applied is also presented. The approach is controller independent, but we make use of a model predictive controller, vulnerable to the effects of model-plant mismatch, to highlight the efficacy of the proposed estimation and compensation. Path following results using a mixture model to generate feasible slip values are presented, and show a significant increase in controller performance.
Original languageEnglish
Title of host publication2012 IEEE International Conference on Robotics and Automation
Place of PublicationSaint Paul, MN, USA
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages97-102
Number of pages6
ISBN (Electronic)978-1-4673-1405-3
ISBN (Print)978-1-4673-1403-9
DOIs
Publication statusPublished - 28 Jun 2012
Event2012 IEEE International Conference on Robotics and Automation - Saint Paul, United States
Duration: 14 May 201218 May 2012

Conference

Conference2012 IEEE International Conference on Robotics and Automation
Abbreviated titleICRA 2012
CountryUnited States
CitySaint Paul
Period14/05/1218/05/12

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