Adaptive path control of unmanned ground vehicles(UGVs)

Z. SUN; W. C. CAI; X. H. LIAO; T. DONG; Y. D. SONG

doi:10.1109/SSST.2006.1619099

Adaptive path control of unmanned ground vehicles(UGVs)

Z. SUN^*
, W. C. CAI
, X. H. LIAO
, T. DONG
, Y. D. SONG

^*Corresponding author for this work

Research output: Book Chapters | Papers in Conference Proceedings › Conference paper (refereed) › Research › peer-review

4 Citations (Scopus)

Abstract

As part of the effort in developing cooperative control schemes for multiple unmanned ground vehicles (UGVs), this work explores automatically steering a three-wheel mobile vehicle via highly adaptive approach. By introducing a virtual current vector, a set of control algorithms for direct controlling the left and right driving motors are derived. As confirmed by both theoretical analysis and computer simulation, the developed algorithms are effective in maintaining good path tracking precision in the presence of uncertain dynamics due to various disturbances emanating from external loads, the wheel-ground contact, and other unmodeled nonlinearities. © 2006 IEEE.

Original language	English
Title of host publication	Proceedings of the 38th Southeastern Symposium on System Theory
Publisher	IEEE
Pages	507-511
Number of pages	5
ISBN (Print)	0780394577
DOIs	https://doi.org/10.1109/SSST.2006.1619099
Publication status	Published - 17 Oct 2006
Externally published	Yes
Event	The Thirty-Eighth Southeastern Symposium on System Theory 2006 - Cookeville, United States Duration: 5 Mar 2006 → 7 Mar 2006

Symposium

Symposium	The Thirty-Eighth Southeastern Symposium on System Theory 2006
Country/Territory	United States
City	Cookeville
Period	5/03/06 → 7/03/06

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10.1109/SSST.2006.1619099

Cite this

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title = "Adaptive path control of unmanned ground vehicles(UGVs)",

abstract = "As part of the effort in developing cooperative control schemes for multiple unmanned ground vehicles (UGVs), this work explores automatically steering a three-wheel mobile vehicle via highly adaptive approach. By introducing a virtual current vector, a set of control algorithms for direct controlling the left and right driving motors are derived. As confirmed by both theoretical analysis and computer simulation, the developed algorithms are effective in maintaining good path tracking precision in the presence of uncertain dynamics due to various disturbances emanating from external loads, the wheel-ground contact, and other unmodeled nonlinearities. {\textcopyright} 2006 IEEE.",

author = "Z. SUN and CAI, \{W. C.\} and LIAO, \{X. H.\} and T. DONG and SONG, \{Y. D.\}",

year = "2006",

month = oct,

day = "17",

doi = "10.1109/SSST.2006.1619099",

language = "English",

isbn = "0780394577",

pages = "507--511",

booktitle = "Proceedings of the 38th Southeastern Symposium on System Theory",

publisher = "IEEE",

note = "The Thirty-Eighth Southeastern Symposium on System Theory 2006 ; Conference date: 05-03-2006 Through 07-03-2006",

}

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T1 - Adaptive path control of unmanned ground vehicles(UGVs)

AU - SUN, Z.

AU - CAI, W. C.

AU - LIAO, X. H.

AU - DONG, T.

AU - SONG, Y. D.

PY - 2006/10/17

Y1 - 2006/10/17

N2 - As part of the effort in developing cooperative control schemes for multiple unmanned ground vehicles (UGVs), this work explores automatically steering a three-wheel mobile vehicle via highly adaptive approach. By introducing a virtual current vector, a set of control algorithms for direct controlling the left and right driving motors are derived. As confirmed by both theoretical analysis and computer simulation, the developed algorithms are effective in maintaining good path tracking precision in the presence of uncertain dynamics due to various disturbances emanating from external loads, the wheel-ground contact, and other unmodeled nonlinearities. © 2006 IEEE.

AB - As part of the effort in developing cooperative control schemes for multiple unmanned ground vehicles (UGVs), this work explores automatically steering a three-wheel mobile vehicle via highly adaptive approach. By introducing a virtual current vector, a set of control algorithms for direct controlling the left and right driving motors are derived. As confirmed by both theoretical analysis and computer simulation, the developed algorithms are effective in maintaining good path tracking precision in the presence of uncertain dynamics due to various disturbances emanating from external loads, the wheel-ground contact, and other unmodeled nonlinearities. © 2006 IEEE.

UR - https://www.scopus.com/pages/publications/33749587945

U2 - 10.1109/SSST.2006.1619099

DO - 10.1109/SSST.2006.1619099

M3 - Conference paper (refereed)

AN - SCOPUS:33749587945

SN - 0780394577

SP - 507

EP - 511

BT - Proceedings of the 38th Southeastern Symposium on System Theory

PB - IEEE

T2 - The Thirty-Eighth Southeastern Symposium on System Theory 2006

Y2 - 5 March 2006 through 7 March 2006

ER -

Adaptive path control of unmanned ground vehicles(UGVs)

Abstract

Symposium

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