Pregled bibliografske jedinice broj: 306214
Discussion on: "Adaptive and Predictive Path Tracking Control for Off-road Mobile Robots"
Discussion on: "Adaptive and Predictive Path Tracking Control for Off-road Mobile Robots" // European Journal of Control, 13 (2007), 4; 440-446 (međunarodna recenzija, članak, znanstveni)
CROSBI ID: 306214 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Discussion on: "Adaptive and Predictive Path Tracking Control for Off-road Mobile Robots"
Autori
Maček, Kristijan ; Matuško, Jadranko ; Martinelli, Agostino ; Siegwart, Roland
Izvornik
European Journal of Control (0947-3580) 13
(2007), 4;
440-446
Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni
Ključne riječi
adaptive control; path tracking; mobile robots; state estimation
Sažetak
The authors discussed the problem of accurate path tracking in off-road terrains in presence of lateral sliding. Observability of the extended kinematic model of the vehicle was analyzed using observability rank criterion. In addition explicit modeling of vehicle dynamics around vertical axis was proposed based on vehicle side slip angle. A method for concurrent estimation of the side slip angle and the time varying cornering stiffness parameters based on dual Kalman filter was proposed.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti
POVEZANOST RADA
Projekti:
036-0361621-3012 - Napredne strategije upravljanja i estimacije u složenim sustavima (Perić, Nedjeljko, MZO ) ( CroRIS)
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Petrović, Ivan, MZO ) ( CroRIS)
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
Citiraj ovu publikaciju:
Časopis indeksira:
- Current Contents Connect (CCC)
- Web of Science Core Collection (WoSCC)
- Science Citation Index Expanded (SCI-EXP)
- SCI-EXP, SSCI i/ili A&HCI
- Scopus
