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Positioning and Trajectory Tracking for Caterpillar Vehicles in Unknown Environment

  • Control Theory and Applications
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International Journal of Control, Automation and Systems Aims and scope Submit manuscript

Abstract

This paper proposes positioning and trajectory tracking for Caterpillar Vehicles (CVs) in unknown environments. To do these tasks, the following are performed. Firstly, a system modeling of the Caterpillar Vehicle is presented. Secondly, solving the complicated tracking control problem in unknown environments is a challenging mission. Therefore, to guarantee the Caterpillar Vehicle system to be strong robustness against external disturbances in the unknown environments, a MIMO robust servo controller for tracking the desired trajectory is designed by using a Linear Shift Invariant Differential (LSID) operator. The CVs are able to accomplish various tasks in dangerous places where workers cannot enter. Thirdly, the positioning of the CV can be obtained using a Simultaneous Localization and Mapping (SLAM) method. This paper develops perfectly the SLAM algorithm for positioning of the CV based on laser sensor Lidar. The main advantage of this method is that it does not need to use more landmarks. Landmarks can be obtained from the unknown environment. Thus, the CV can work even in unknown environments and unsafe places. Finally, to verify the effectiveness of the proposed MIMO robust servo controller and the SLAM positioning algorithm, the experimental results are presented. The experimental results demonstrate the adequate tracking performance of the proposed MIMO robust servo controller in the unknown environment.

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Authors and Affiliations

  1. Department of Mechanical Design Engineering, Pukyong National University, Busan, 48513, Korea

    Van Lanh Nguyen, Dae Hwan Kim, Hak Kyeong Kim & Sang Bong Kim

  2. Petro Vietnam University, Baria city, Baria-Vung Tau province, Viet Nam

    Van Sy Le

  3. Department of Automation System, Korea Polytechnics, JinJu Campus, Gyeongsangnamdo, Incheon, Korea

    Sang Kwun Jeong

  4. Department of Machine System Engineering, Dongwon Institute of Science and Technology, Yangsan, 50598, Korea

    Choong Hwan Lee

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  1. Van Lanh Nguyen
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  6. Hak Kyeong Kim
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Correspondence to Sang Bong Kim.

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Recommended by Associate Editor Wei He under the direction of Editor Myo Taeg Lim.

This research was financially supported by the Ministry of Trade, Industry and Energy(MOTIE) and Korea Institute for Advancement of Technology(KIAT) through the International Cooperative R&D program (Project No. P0004631).

Van Lanh Nguyen was born in Viet Nam on March 15, 1978. He received his B.S. degree in electrical and electronic engineering from Ho Chi Minh City University of Technology, Viet Nam in 2001. He then received his M.S. degree in electronic engineering from the University of Transport and Communications, Viet Nam in 2010. He is currently a Researcher in the Dept. of Mechanical Design Engineering, Pukyong National University, Busan, Korea. His fields of interest are robust control, adaptive control, and mobile robot control.

Dae Hwan Kim received his B.S. degree in electrical engineering from Pukyong National University, Busan, Korea in 2008. He then received his M.S and Ph.D. degrees in mechanical engineering from the Pukyong National University, Busan, Korea, in 2009 and 2015, respectively. His fields of interest are robust control, combustion engineering control, and mobile robot control.

Van Sy Le was born in Vietnam on July, 1979. He received his B.S. degree in mechanical engineering from Ho Chi Minh City University of Technology, Vietnam in 2003. He received an M.S. degree in automotive and mechanical engineering from Ulsan University, Korea in 2007. And then he received a Ph.D. degree in industrial system and manufacturing from University of Padua, Italy in 2010. He is interested in CAD/CAM/CNC, die-less sheet metal forming, finite element simulation, offshore Engineering.

Sang Kwun Jeong received his B.S. degree in the Dept. of Manufacture and Processing Engineering, an M.S. degree in the Dept. of Mechatronics Engineering, and a Ph.D. degree in the Dept. of Mechatronics Engineering from Pukyoung National University, Busan, Korea, in 1999, 2001, and 2010, respectively. He is a professor in the Dept. of Automation System, Korea Polytechnic Colleges, JinJu Campus, Gyeongsangnamdo, Korea. His fields of interest are mobile robot control, automation system control, and image processing control.

Choong Hwan Lee received his B.S. degree in the Dept. of Marine Mechanical Engineering, an M.S. degree in the Dept. of Mechanical Engineering, and a Ph.D. degree in the Dept. of Mechanical Engineering from Pukyoung National University, Busan, Korea, in 1991, 1993, and 2001, respectively. After then, he is a Professor in the Dept. of Aviation Mechanical Engineering of Dongwon Institute of Science and Technology, Yangsan, Gyeongsangnamdo, Korea. His fields of interest are robust control, flight control, and mobile robot control.

Hak Kyeong Kim received his B.S. and M.S. degrees in the Dept. of Mechanical Engineering from Pusan National University, Korea, in 1983 and 1985. He received his Ph.D. degree from the Dept. of Mechatronics Engineering, Pukyong National University, Busan, Korea in February, 2002. His fields of interest are robust control, biomechanical control, mobile robot control, flight control, and image processing control.

Sang Bong Kim received his B.S. and M.S. degrees from the National Fisheries University of Busan, Korea, in 1978 and 1980. He received his Ph.D. degree from Tokyo Institute of Technology, Japan in 1988. After then, he is a Professor of the Dept. of Mechanical Engineering, Pukyong National University, Busan, Korea. His research has been on robust control, biomechanical control, and mobile robot control.

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Nguyen, V.L., Kim, D.H., Le, V.S. et al. Positioning and Trajectory Tracking for Caterpillar Vehicles in Unknown Environment. Int. J. Control Autom. Syst. 18, 3178–3193 (2020). https://doi.org/10.1007/s12555-019-0436-3

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