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Fecha
2019-08-02
Derechos de acceso
info:eu-repo/semantics/openAccess
Título de la revista
ISSN de la revista
Título del volumen
Editorial
Institute of Electrical and Electronics Engineers
Citas
Resumen
The dynamics of a skid-steering robot present intrinsic non-linearities that make the design and implementation of a controller a very complex task, time-consuming, and difficult to implement into an embedded system with limited resources. This paper presents a simplified first order digital model approximation and an optimal observer-based control approach for the tracking of the lateral position of such robots. In order to verify the validity of this proposal, 3D real-time interactive simulations and real validations with an agricultural skid-steering robot were performed with satisfactory results.
Descripción
La versión registrada de este artículo, publicado por primera vez en IEEE Access, vol. 7, pp. 95932-95940, 2019, está disponible en línea en el sitio web del editor: https://doi.org/10.1109/ACCESS.2019.2929022.
The registered version of this article, first published in IEEE Access, vol. 7, pp. 95932–95940, 2019, is available online from the publisher's website: https://doi.org/10.1109/ACCESS.2019.2929022.
Categorías UNESCO
Palabras clave
Agricultural robotics, autonomous off-road vehicles, digital control, guidance control, optimal control, path following, skid-steering robot, robotics, UGV
Citación
B. Fernandez, P. J. Herrera and J. A. Cerrada, "A Simplified Optimal Path Following Controller for an Agricultural Skid-Steering Robot," in IEEE Access, vol. 7, pp. 95932-95940, 2019, doi: https://doi.org/10.1109/ACCESS.2019.2929022.
Centro
E.T.S. de Ingeniería Informática
Departamento
Ingeniería de Software y Sistemas Informáticos