Journal
IEEE ACCESS
Volume 7, Issue -, Pages 95932-95940Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2019.2929022
Keywords
Agricultural robotics; autonomous off-road vehicles; digital control; guidance control; optimal control; path following; skid-steering robot; robotics; UGV
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Funding
- Spanish Ministry of Economy and Competitiveness [DPI2016-77677-P, AGL2017-83325-C4-3-R]
- Community of Madrid and Structural Funds of the EU [S2018/NMT-4331]
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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.
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