文章基本信息

标题：Fuzzy Vector Field Orientation Feedback Control-Based Slip Compensation for Trajectory Tracking Control of a Four Track Wheel Skid-Steered Mobile Robot
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作者：Xuan Vinh Ha ; Cheolkeun Ha ; Jewon Lee 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2013
卷号：10
DOI：10.5772/56355
语种：English
出版社：SAGE Publications
摘要：Skid-steered mobile robots have been widely used in exploring unknown environments and in military applications. In this paper, the tuning fuzzy Vector Field Orientation (FVFO) feedback control method is proposed for a four track wheel skid-steered mobile robot (4-TW SSMR) using flexible fuzzy logic control (FLC). The extended Kalman filter is utilized to estimate the positions, velocities and orientation angles, which are used for feedback control signals in the FVFO method, based on the AHRS kinematic motion model and velocity constraints. In addition, in light of the wheel slip and the braking ability of the robot, we propose a new method for estimating online wheel slip parameters based on a discrete Kalman filter to compensate for the velocity constraints. As demonstrated by our experimental results, the advantages of the combination of the proposed FVFO and wheel slip estimation methods overcome the limitations of the others in the trajectory tracking control problem for a 4-TW SSMR.
关键词：Skid-Steered Mobile Robot (SSMR); Path Tracking Control; Vector Field Orientation (VFO) Method; Fuzzy Logic Control (FLC); Extended Kalman Filter (EKF); Slip Estimation