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 overactuated. 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. © 2008 IEEE.


== Original document ==

The different versions of the original document can be found in:

* [http://dx.doi.org/10.1109/ivs.2008.4621292 http://dx.doi.org/10.1109/ivs.2008.4621292]

* [http://resolver.tudelft.nl/uuid:2b7229aa-cb62-4ecb-8dce-1846b2f8a1d5 http://resolver.tudelft.nl/uuid:2b7229aa-cb62-4ecb-8dce-1846b2f8a1d5]

* [https://pure.tue.nl/ws/files/73899047/Ploeg_2008_Control_Design_for_a_Mobile_Robot_Including_Tire_Behavior.pdf https://pure.tue.nl/ws/files/73899047/Ploeg_2008_Control_Design_for_a_Mobile_Robot_Including_Tire_Behavior.pdf]

* [https://research.tue.nl/nl/publications/control-design-for-a-mobile-robot-including-tire-behavior(20118a9c-e584-459f-9d2a-6a29856581ce).html https://research.tue.nl/nl/publications/control-design-for-a-mobile-robot-including-tire-behavior(20118a9c-e584-459f-9d2a-6a29856581ce).html]

* [http://xplorestaging.ieee.org/ielx5/4607789/4621124/04621292.pdf?arnumber=4621292 http://xplorestaging.ieee.org/ielx5/4607789/4621124/04621292.pdf?arnumber=4621292],
: [http://dx.doi.org/10.1109/ivs.2008.4621292 http://dx.doi.org/10.1109/ivs.2008.4621292]

* [https://repository.tudelft.nl/view/tno/uuid%3A2b7229aa-cb62-4ecb-8dce-1846b2f8a1d5 https://repository.tudelft.nl/view/tno/uuid%3A2b7229aa-cb62-4ecb-8dce-1846b2f8a1d5],
: [http://yadda.icm.edu.pl/yadda/element/bwmeta1.element.ieee-000004621292 http://yadda.icm.edu.pl/yadda/element/bwmeta1.element.ieee-000004621292],
: [https://www.narcis.nl/publication/RecordID/oai%3Atudelft.nl%3Auuid%3A2b7229aa-cb62-4ecb-8dce-1846b2f8a1d5 https://www.narcis.nl/publication/RecordID/oai%3Atudelft.nl%3Auuid%3A2b7229aa-cb62-4ecb-8dce-1846b2f8a1d5],
: [https://academic.microsoft.com/#/detail/2126981869 https://academic.microsoft.com/#/detail/2126981869]