Control design for a mobile robot Including tire behavior

J. Ploeg; H.E. Schouten; H. Nijmeijer

doi:10.1109/IVS.2008.4621292

Control design for a mobile robot Including tire behavior

J. Ploeg, H.E. Schouten, H. Nijmeijer

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

8 Citations (Scopus)

185 Downloads (Pure)

Abstract

In order to support the development process of Advanced Driver Assistance systems for road vehicles, TNO is operating a hardware-in-the-loop test setup. In this facility, called VeHIL, vehicles in the direct neighborhood of the test vehicle are simulated using wheeled mobile robots. Due to the required type of maneuvers, these robots have independently driven and steered wheels. Consequently, the robot is over-actuated. Furthermore, since the robot is capable of high dynamic maneuvers, slip effects caused by the tires can play an important role. A position controller based on feedback linearization is presented, using the so-called multicycle approach which regards the robot as a set of independent unicycles. As a result, the wheeled mobile robot is position controlled while each unicycle is controlled taking weight transfer as well as longitudinal and lateral tire slip into account

Original language	English
Title of host publication	Proceedings of the IEEE Intelligent Vehicles Symposium (IV'2008), 4-6 June 2008, Eindhoven, The Netherlands
Place of Publication	Piscataway
Publisher	Institute of Electrical and Electronics Engineers
Pages	240-245
ISBN (Print)	978-1-4244-2568-6
DOIs	https://doi.org/10.1109/IVS.2008.4621292
Publication status	Published - 2008
Event	2008 IEEE Intelligent Vehicles Symposium, IV 2008 - Eindhoven, Netherlands Duration: 4 Jun 2008 → 6 Jun 2008

Conference

Conference	2008 IEEE Intelligent Vehicles Symposium, IV 2008
Abbreviated title	IV 2008
Country/Territory	Netherlands
City	Eindhoven
Period	4/06/08 → 6/06/08
Other	IEEE Intelligent Vehicles Symposium (IV'2008)

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10.1109/IVS.2008.4621292

Ploeg_2008_Control_Design_for_a_Mobile_Robot_Including_Tire_BehaviorFinal author version , 410 KB

Cite this

@inproceedings{20118a9ce584459f9d2a6a29856581ce,

title = "Control design for a mobile robot Including tire behavior",

abstract = "In order to support the development process of Advanced Driver Assistance systems for road vehicles, TNO is operating a hardware-in-the-loop test setup. In this facility, called VeHIL, vehicles in the direct neighborhood of the test vehicle are simulated using wheeled mobile robots. Due to the required type of maneuvers, these robots have independently driven and steered wheels. Consequently, the robot is over-actuated. Furthermore, since the robot is capable of high dynamic maneuvers, slip effects caused by the tires can play an important role. A position controller based on feedback linearization is presented, using the so-called multicycle approach which regards the robot as a set of independent unicycles. As a result, the wheeled mobile robot is position controlled while each unicycle is controlled taking weight transfer as well as longitudinal and lateral tire slip into account",

author = "J. Ploeg and H.E. Schouten and H. Nijmeijer",

year = "2008",

doi = "10.1109/IVS.2008.4621292",

language = "English",

isbn = "978-1-4244-2568-6",

pages = "240--245",

booktitle = "Proceedings of the IEEE Intelligent Vehicles Symposium (IV'2008), 4-6 June 2008, Eindhoven, The Netherlands",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

note = "2008 IEEE Intelligent Vehicles Symposium, IV 2008<br/>, IV 2008 ; Conference date: 04-06-2008 Through 06-06-2008",

}

Ploeg, J, Schouten, HE & Nijmeijer, H 2008, Control design for a mobile robot Including tire behavior. in Proceedings of the IEEE Intelligent Vehicles Symposium (IV'2008), 4-6 June 2008, Eindhoven, The Netherlands. Institute of Electrical and Electronics Engineers, Piscataway, pp. 240-245, 2008 IEEE Intelligent Vehicles Symposium, IV 2008
, Eindhoven, Netherlands, 4/06/08. https://doi.org/10.1109/IVS.2008.4621292

Control design for a mobile robot Including tire behavior. / Ploeg, J.; Schouten, H.E.; Nijmeijer, H.
Proceedings of the IEEE Intelligent Vehicles Symposium (IV'2008), 4-6 June 2008, Eindhoven, The Netherlands. Piscataway: Institute of Electrical and Electronics Engineers, 2008. p. 240-245.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Control design for a mobile robot Including tire behavior

AU - Ploeg, J.

AU - Schouten, H.E.

AU - Nijmeijer, H.

PY - 2008

Y1 - 2008

N2 - In order to support the development process of Advanced Driver Assistance systems for road vehicles, TNO is operating a hardware-in-the-loop test setup. In this facility, called VeHIL, vehicles in the direct neighborhood of the test vehicle are simulated using wheeled mobile robots. Due to the required type of maneuvers, these robots have independently driven and steered wheels. Consequently, the robot is over-actuated. Furthermore, since the robot is capable of high dynamic maneuvers, slip effects caused by the tires can play an important role. A position controller based on feedback linearization is presented, using the so-called multicycle approach which regards the robot as a set of independent unicycles. As a result, the wheeled mobile robot is position controlled while each unicycle is controlled taking weight transfer as well as longitudinal and lateral tire slip into account

AB - In order to support the development process of Advanced Driver Assistance systems for road vehicles, TNO is operating a hardware-in-the-loop test setup. In this facility, called VeHIL, vehicles in the direct neighborhood of the test vehicle are simulated using wheeled mobile robots. Due to the required type of maneuvers, these robots have independently driven and steered wheels. Consequently, the robot is over-actuated. Furthermore, since the robot is capable of high dynamic maneuvers, slip effects caused by the tires can play an important role. A position controller based on feedback linearization is presented, using the so-called multicycle approach which regards the robot as a set of independent unicycles. As a result, the wheeled mobile robot is position controlled while each unicycle is controlled taking weight transfer as well as longitudinal and lateral tire slip into account

U2 - 10.1109/IVS.2008.4621292

DO - 10.1109/IVS.2008.4621292

M3 - Conference contribution

SN - 978-1-4244-2568-6

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BT - Proceedings of the IEEE Intelligent Vehicles Symposium (IV'2008), 4-6 June 2008, Eindhoven, The Netherlands

PB - Institute of Electrical and Electronics Engineers

CY - Piscataway

T2 - 2008 IEEE Intelligent Vehicles Symposium, IV 2008<br/>

Y2 - 4 June 2008 through 6 June 2008

ER -

Control design for a mobile robot Including tire behavior

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