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Path Tracking Control of a Mobile Robot by Using Dual Estimation Algorithm
Joint Authors
Ha, Xuan Vinh
Choi, Hyoung Sik
Ha, Cheolkeun
Source
Advances in Mechanical Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-12-21
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
Skid-steered mobile robots have been developed to explore unknown environments, especially in rough terrain situations, where the wheel slips always occur and vary when the robot is traveling with different trajectory shapes.
The wheel slippage limits the traction and braking abilities of the robot.
In this paper, we propose a new dual estimation algorithm to overcome the previous limitations.
The estimated values such as the robot’s positions and wheel slips are obtained based on the Kalman filtering technique.
As demonstrated by our experimental results, the advantages of the new method are effective to overcome the slip limitations in the path tracking control problem of a four-track wheel skid-steered mobile robot (4-TW SSMR).
American Psychological Association (APA)
Ha, Xuan Vinh& Ha, Cheolkeun& Choi, Hyoung Sik. 2013. Path Tracking Control of a Mobile Robot by Using Dual Estimation Algorithm. Advances in Mechanical Engineering،Vol. 2013, no. 2013, pp.1-11.
https://search.emarefa.net/detail/BIM-466318
Modern Language Association (MLA)
Ha, Xuan Vinh…[et al.]. Path Tracking Control of a Mobile Robot by Using Dual Estimation Algorithm. Advances in Mechanical Engineering No. 2013 (2013), pp.1-11.
https://search.emarefa.net/detail/BIM-466318
American Medical Association (AMA)
Ha, Xuan Vinh& Ha, Cheolkeun& Choi, Hyoung Sik. Path Tracking Control of a Mobile Robot by Using Dual Estimation Algorithm. Advances in Mechanical Engineering. 2013. Vol. 2013, no. 2013, pp.1-11.
https://search.emarefa.net/detail/BIM-466318
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-466318