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0 · Variable gain based composite trajectory tracking control for 4
1 · Trajectory Tracking Control of Skid
2 · Slip
3 · Self
4 · Performance
5 · Comparison of slip
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This paper presents a slip compensation method applicable to various skid-steer wheel configurations, aiming to use a single slippage correction algorithm across different suspension.The main idea behind this article was to check, if different mechanical suspensions with the . This paper proposes a novel trajectory tracking technique featuring real-world . To evaluate the proposed slip model and slip-compensated odometry, we .
Wheel slip affects the accuracy of dead-reckoning based localization techniques . In this paper, the coordinated control problem is investigated for the four-wheel .
This paper investigates the trajectory tracking problem for 4-wheel skid-steering . This paper presents a slip compensation method applicable to various skid-steer wheel configurations, aiming to use a single slippage correction algorithm across different suspension.
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The main idea behind this article was to check, if different mechanical suspensions with the same kinematic structure (skid-steering), could achieve similar localization accuracy according to the same slip compensation method and using only onboard sensors. This paper proposes a novel trajectory tracking technique featuring real-world feasible online slip and skid compensation at the vehicle level for skid-steering mobile robots operating outdoors. The approach employs sliding-mode control to design a robust trajectory tracking system, accounting for the inherent uncertainties in this type of robot. To evaluate the proposed slip model and slip-compensated odometry, we conduct several experiments with a skid-steering tracked vehicle on an indoor sandy slope. Wheel slip affects the accuracy of dead-reckoning based localization techniques as they introduce measurement errors in odometers. This investigation presents a new slip compensation scheme that uses neuro-fuzzy technique for self-calibration of odometer. The.
In this paper, the coordinated control problem is investigated for the four-wheel independently driven skid steer mobile robots, so as to solve the chattering phenomenon and also achieve good control performance under different ground conditions. This paper investigates the trajectory tracking problem for 4-wheel skid-steering mobile robots (SSMRs) with unknown disturbances. A novel variable gain based composite disturbance rejection control approach is proposed. This paper describes the use of an active disturbance rejection controller (ADRC) to estimate and compensate for the effect of slip in an online manner to improve the path tracking performance of autonomous ground vehicles (AGVs).This paper presents a slip compensation method applicable to various skid-steer wheel configurations, aiming to use a single slippage correction algorithm across different suspension types without additional tuning.
In this paper, a slip model and slip-compensated odometry for skid-steering tracked vehicle have been described along with a description of various experiments conducted on loose and weak slope to verify the effectiveness of the proposed model.
This paper presents a slip compensation method applicable to various skid-steer wheel configurations, aiming to use a single slippage correction algorithm across different suspension.
The main idea behind this article was to check, if different mechanical suspensions with the same kinematic structure (skid-steering), could achieve similar localization accuracy according to the same slip compensation method and using only onboard sensors. This paper proposes a novel trajectory tracking technique featuring real-world feasible online slip and skid compensation at the vehicle level for skid-steering mobile robots operating outdoors. The approach employs sliding-mode control to design a robust trajectory tracking system, accounting for the inherent uncertainties in this type of robot. To evaluate the proposed slip model and slip-compensated odometry, we conduct several experiments with a skid-steering tracked vehicle on an indoor sandy slope. Wheel slip affects the accuracy of dead-reckoning based localization techniques as they introduce measurement errors in odometers. This investigation presents a new slip compensation scheme that uses neuro-fuzzy technique for self-calibration of odometer. The.
In this paper, the coordinated control problem is investigated for the four-wheel independently driven skid steer mobile robots, so as to solve the chattering phenomenon and also achieve good control performance under different ground conditions.
This paper investigates the trajectory tracking problem for 4-wheel skid-steering mobile robots (SSMRs) with unknown disturbances. A novel variable gain based composite disturbance rejection control approach is proposed. This paper describes the use of an active disturbance rejection controller (ADRC) to estimate and compensate for the effect of slip in an online manner to improve the path tracking performance of autonomous ground vehicles (AGVs).This paper presents a slip compensation method applicable to various skid-steer wheel configurations, aiming to use a single slippage correction algorithm across different suspension types without additional tuning.
Variable gain based composite trajectory tracking control for 4
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wheel slip compensation for skid steer|Performance