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Robust path control for an autonomous ground vehicle in rough terrain
Control Engineering Practice ( IF 4.9 ) Pub Date : 2020-05-01 , DOI: 10.1016/j.conengprac.2020.104384
Jongho Shin , Dongjun Kwak , Taehyung Lee

Abstract Typically, it is not trivial for an autonomous ground vehicle (AGV) to navigate in rough terrain due to lots of unexpectable uncertainties. Because the performance of the autonomous navigation can be degraded by the uncertainties, the AGV requires a robust control system against them. To handle the necessity, this study proposes the robust path controller by utilizing a disturbance observer (DOB)-based control method. The proposed controller is developed by two steps: the first step is to design a controller for handling a nominal system of the AGV, and the other is to add the DOB to the nominal controller. Then, the determined control input is distributed into tire forces because the tire forces are final resource enabling the AGV to move. The tire force distribution is defined as an optimization problem with some constraints, and the solution is obtained by the CVXGEN. Finally, numerical simulations and field tests with a skid-type ground vehicle, developed by the authors’ laboratory, are conducted to validate the performance of the proposed method.

中文翻译:

崎岖地形下自主地面车辆的鲁棒路径控制

摘要 通常,由于许多不可预料的不确定性,自主地面车辆 (AGV) 在崎岖地形中导航并非易事。由于不确定性会降低自主导航的性能,因此 AGV 需要一个强大的控制系统来应对这些不确定性。为了处理这种必要性,本研究通过利用基于干扰观测器 (DOB) 的控制方法提出了鲁棒路径控制器。所提出的控制器分两步开发:第一步是设计用于处理 AGV 标称系统的控制器,第二步是将 DOB 添加到标称控制器中。然后,确定的控制输入被分配到轮胎力中,因为轮胎力是使 AGV 能够移动的最终资源。轮胎力分布被定义为具有一些约束的优化问题,并且通过 CVXGEN 获得解决方案。最后,作者实验室开发的滑橇式地面车辆的数值模拟和现场测试被用来验证所提出方法的性能。
更新日期:2020-05-01
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