In order to support the development process of Advanced Driver Assistance systems for road vehicles, TNO is operating a hardware-in-the-loop test setup. In this facility, called VeHIL, vehicles in the direct neighborhood of the test vehicle are simulated using wheeled mobile robots. Due to the required type of maneuvers, these robots have independently driven and steered wheels. Consequently, the robot is over-actuated. Furthermore, since the robot is capable of high dynamic maneuvers, slip effects caused by the tires can play an important role. A position controller based on feedback linearization is presented, using the so-called multicycle approach which regards the robot as a set of independent unicycles. As a result, the wheeled mobile robot is position controlled while each unicycle is controlled taking weight transfer as well as longitudinal and lateral tire slip into account.


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    Title :

    Control design for a mobile robot including tire behavior


    Contributors:


    Publication date :

    2008-06-01


    Size :

    587176 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Control Design for a Mobile Robot Including Tire Behavior

    Ploeg, J. / Schouten, H.E. / Nijmeijer, H. | British Library Conference Proceedings | 2008


    Position control of a wheeled mobile robot including tire behavior

    Ploeg, J. / Schouten, H.E. / Nijmeijer, H. | BASE | 2009

    Free access


    Position control of a wheeled mobile robot including tire behavior

    Schouten, H.E. / Nijmeijer, H. / Ploeg, J. | Tema Archive | 2009


    Position Control of a Wheeled Mobile Robot Including Tire Behavior

    Ploeg, J. / Schouten, H.E. / Nijmeijer, H. | IEEE | 2009