Controlling Off-Road Bi-steerable Mobile Robots: An Adaptive Multi-control Laws Strategy

摘要

This paper proposes a path tracking strategy for wheeled mobile robots of type {1,2} (i.e. equipped with two steering axles), with the aim to ensure the convergence of the front and rear control points along a same trajectory, leading to reduce the required space to achieve maneuvers. The proposed approach considers front and rear steering axles as two separate systems with their own control variables: the front and the rear steering angles. The problem of managing two steering axles is solved without considering an explicit control of the robot's orientation, nor a relationship between the two steering angles which is generally a not optimal approach. The proposed control laws are based on adaptive and predictive control techniques in order to address phenomena acting when moving in unstructured context, such as bad grip conditions, low-level and inertial delays. As a result, this control algorithm enables to accurately control bi-steerable mobile robots, while increasing their maneuverability. This is particularly suitable for off-road applications, such as in agriculture where potentially large robots have to move in cluttered environments and face low grip conditions.