Avoiding steering actuator saturation in off-road mobile robot path tracking via predictive velocity control

Oliver Hach, Roland Lenain, Benoit Thuilot, Philippe Martinet
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
more » ... ble, of a mobile robot in order to respect the boundedness of the steering angle, and thus to improve the vehicle safety. The applicability of the algorithm has been verified through experiments with an off-road mobile robot.
doi:10.1109/iros.2011.6095007 dblp:conf/iros/HachLTM11 fatcat:tzhfuwkos5faff4yaf2k3yx6ha