Summary
International Symposium on Nonlinear Theory and its Applications
2008
Session Number:A1L-C
Session:
Number:A1L-C3
Tracing Control for a Tracked Vehicle Based on Prediction Model of Virtual Wheeled Robot
Masamitsu Kurisu,
pp.-
Publication Date:2008/9/7
Online ISSN:2188-5079
Summary:
This paper presents a tracking control method for tracked vehicles. An instantaneous motion of a tracked vehicle with slip motion can be regarded kinematically as a motion of a virtual mobile robot with two independent driving wheels. The proposed method is constructed based on a model of the virtual robot. A control law is derived by applying a differential feedback control method for wheeled robots to the virtual robot. The control law guarantees that the virtual robot follows the virtual desired trajectory which is derived from a given desired trajectory of the original tracked vehicle. Simulation results show the effectiveness of the proposed method. An on-line prediction method for the virtual model is also discussed.