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An All-Terrain-Controller for Over-Actuated Wheeled Mobile Robots with Feedforward and Optimization-Based Control Allocation

Barthelmes, Stefan and Zehnter, Sebastian (2017) An All-Terrain-Controller for Over-Actuated Wheeled Mobile Robots with Feedforward and Optimization-Based Control Allocation. In: IEEE Conference on Decision and Control. 56th IEEE Conference on Decision and Control, 12.-15. Dez. 2017, Melbourne, Australien.

Full text not available from this repository.

Abstract

Mobile robots have successfully been used in rough terrain, most prominently NASA/JPL’s Mars Exploration Rovers. While autonomy and navigation algorithms become more and more capable, the absence of global Navigation satellite systems (GNSS) still poses problems for slip-intensive terrain such as soft sands. Other positioning methods like visual odometry can only be executed in a slow update rate when computation power is limited. This work deals with the problem of executing velocity or acceleration commands from an arbitrary, slowly sampled path planning algorithm in a safer and more robust way. To achieve this goal for a mobile robot with steering capabilities, a model-based All-Terrain-Control (ATC) is proposed. For straight-forward consideration of external forces from the rough terrain and to handle the lack of position and velocity feedback, the proposed controller works on the acceleration level. The over-actuation is solved by an optimization-based control allocation and ultimately, torques and angles are commanded to the wheel drive and steering motors, respectively. It is shown in a realistic co-simulation that the proposed ATC is able to follow a trajectory purely based on the feedback of an inertial measurement unit (IMU). In contrast to a purely geometric reference controller, the ATC mainly calculates the necessary control variables from model knowledge via feedforward control.

Item URL in elib:https://elib.dlr.de/115015/
Document Type:Conference or Workshop Item (Speech)
Title:An All-Terrain-Controller for Over-Actuated Wheeled Mobile Robots with Feedforward and Optimization-Based Control Allocation
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Barthelmes, StefanStefan.Barthelmes (at) dlr.dehttps://orcid.org/0000-0001-9619-5639
Zehnter, Sebastiantu ilmenauUNSPECIFIED
Date:December 2017
Journal or Publication Title:IEEE Conference on Decision and Control
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Published
Keywords:Mobile Robots; Control Allocation; Optimization; Rough Terrain
Event Title:56th IEEE Conference on Decision and Control
Event Location:Melbourne, Australien
Event Type:international Conference
Event Dates:12.-15. Dez. 2017
Organizer:IEEE Control Systems Society
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Project Morex
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Space System Dynamics
Deposited By: Barthelmes, Stefan
Deposited On:06 Nov 2017 16:09
Last Modified:22 Jan 2018 14:18

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