Control design for a mobile robot Including tire behavior

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

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

8 Citations (Scopus)
158 Downloads (Pure)


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 languageEnglish
Title of host publicationProceedings of the IEEE Intelligent Vehicles Symposium (IV'2008), 4-6 June 2008, Eindhoven, The Netherlands
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
ISBN (Print)978-1-4244-2568-6
Publication statusPublished - 2008
Event2008 IEEE Intelligent Vehicles Symposium, IV 2008
- Eindhoven, Netherlands
Duration: 4 Jun 20086 Jun 2008


Conference2008 IEEE Intelligent Vehicles Symposium, IV 2008
Abbreviated title IV 2008
OtherIEEE Intelligent Vehicles Symposium (IV'2008)


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