engleski

Discussion on: "Adaptive and Predictive Path Tracking Control for Off-road Mobile Robots"

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.

adaptive control; path tracking; mobile robots; state estimation

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