Nonlinear Tire Cornering Stiffness Observer for a Double Steering Off-Road Mobile Robot
| Autor: | Faiz Benamar, Frédéric Plumet, Mohamed Fnadi |
|---|---|
| Přispěvatelé: | Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Systèmes robotiques Conception et Commande (SYROCO), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS), Plumet, Frédéric |
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Observer (quantum physics) Computer science 020209 energy [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO] Yaw Stiffness Mobile robot 02 engineering and technology Kinematics [SPI.AUTO]Engineering Sciences [physics]/Automatic Computer Science::Robotics Vehicle dynamics Nonlinear system [SPI.AUTO] Engineering Sciences [physics]/Automatic 020901 industrial engineering & automation Control theory 0202 electrical engineering electronic engineering information engineering medicine [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] medicine.symptom ComputingMilieux_MISCELLANEOUS |
| Zdroj: | ICRA 2019 International Conference on Robotics and Automation (ICRA) 2019 International Conference on Robotics and Automation (ICRA), 2019, Montreal, Canada. pp.7529-7534 |
| DOI: | 10.1109/icra.2019.8794047 |
| Popis: | Path tracking controllers for an autonomous vehicle are often designed by using either a dynamic model or a kinematic one and some models are related to wheel-ground contact, that makes the efficiency of the controller highly dependent on the ground parameters estimation, especially for off-road mobile robots intended to navigate in open environments. This paper proposes a new nonlinear observer designed to estimate the front and rear contact cornering stiffnesses in real time, that are related both on tire and soil proprieties. The latter is estimated using steering angles as well as yaw rate and lateral velocity, which are provided by a preliminary Kalman-Bucy observer. The performance of the proposed nonlinear observer combined with the LQR controller is evaluated by both advanced simulations and experiments in real conditions at different speeds. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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