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Avoiding steering actuator saturation in off-road mobile robot path tracking via predictive velocity control
2011
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
In mobile robot path tracking applications, an autonomous vehicle is steered to stay as close as possible to a desired path. If lateral wheel slip is an important variable, as it is the case at high speed and due to low tire-ground friction in off-road applications, limits of the steering actuators, the major input constraints of the system, have a major influence on the tracking control performance. This paper presents an algorithm to control the longitudinal velocity, a secondary control
doi:10.1109/iros.2011.6095007
dblp:conf/iros/HachLTM11
fatcat:tzhfuwkos5faff4yaf2k3yx6ha