On the Robust Longitudinal Trajectory Tracking for Load Transportation Vehicles on Uneven Terrains

The longitudinal trajectory tracking for small Unmanned Ground Vehicles (UGVs) subject to real-world disturbances is addressed, by considering an anisotropic ground friction and the variation of its own mass during transportation. A methodology was proposed to perform the design of the controller in...

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Bibliographic Details
Published in2019 19th International Conference on Advanced Robotics (ICAR) pp. 320 - 325
Main Authors Miranda, Victor R. F., Mozelli, Leonardo A., Neto, Armando Alves, Freitas, Gustavo M.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2019
Subjects
Friction
Land vehicles
Navigation
Payloads
PD control
Robots
Sensors
Trajectory tracking
Transportation
Uncertainty
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Summary:The longitudinal trajectory tracking for small Unmanned Ground Vehicles (UGVs) subject to real-world disturbances is addressed, by considering an anisotropic ground friction and the variation of its own mass during transportation. A methodology was proposed to perform the design of the controller in the Proportional-Integral-Derivative (PID) format, which is robust to parametric uncertainties and minimizes output disturbances. Next, a small ground platform for load delivery tasks has been developed, equipped with low-cost navigation sensors and onboard computers. Finally, simulated and real-world experiments illustrate the effectiveness of this application under different scenarios, by combining distinct conditions of friction, payload, and terrain profiles.
DOI:10.1109/ICAR46387.2019.8981641