Print Email Facebook Twitter Control design for a mobile robot including tire behavior Title Control design for a mobile robot including tire behavior Author Ploeg, J. Schouten, H.E. Nijmeijer, H. TNO Industrie en Techniek Publication year 2008 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. Subject RoboticsMobile robotsNonlinear controlRoboticsAutomobile driversAutomobile electronic equipmentFeedback linearizationIntelligent vehicle highway systemsLinearizationMachine designMobile robotsRoboticsTiresVehiclesAdvanced Driver Assistance SystemsControl designsDevelopment processesHigh dynamicsMulti cyclesPosition controllersRoad vehiclesSlip effectsTest set-upTest vehiclesTire behaviorsWeight transfersWheeled Mobile Robots To reference this document use: http://resolver.tudelft.nl/uuid:2b7229aa-cb62-4ecb-8dce-1846b2f8a1d5 TNO identifier 241299 ISBN 9781424425693 Source IEEE Intelligent Vehicles Symposium IV, 4-6 June, 2008, Eindhoven, Netherlands. Conference code: 74805, 240-245 Series IEEE Intelligent Vehicles Symposium, Proceedings Article number No.: 4621292 Document type conference paper Files To receive the publication files, please send an e-mail request to TNO Library.