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UKF based estimation and tracking control of nonholonomic mobile robots with slipping
Zhou B(周波); Peng Y(彭艳); Han JD(韩建达)
Department机器人学研究室
Conference NameIEEE International Conference on Robotics and Biomimetics (ROBIO 2007)
Conference DateDecember 15-18, 2007
Conference PlaceSanya, China
Author of SourceIEEE Robot & Automat Soc, Shandong Univ, Chinese Univ Hong Kong, Chiba Inst Technol, Robot Soc Japan, Soc Instrument & Control Engn, Japan Soc Mech Engn, ROBIO Fdn
Source Publication2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5
PublisherIEEE
Publication PlaceNEW YORK
2007
Pages2058-2063
Indexed ByEI ; CPCI(ISTP)
EI Accession number20083411464444
WOS IDWOS:000257065801194
Contribution Rank1
ISBN978-1-4244-1761-2
KeywordNonholonomic Mobile Robot Nonlinear Estimation Unscented Kalman Filter Tracking Control
AbstractA kinematic model of tracked vehicles is established in this paper, in which both longitudinal and lateral slipping is considered and processed as three time-varying parameters. Unscented Kalman filter is then introduced to real time estimate the pose and slipping parameters jointly. A stable tracking control law for this nonholonomic system is proposed and the asymptotic stability is guaranteed by Lyapunov theory. Simulation results show the efficiency and robustness of the proposed method.
Language英语
Citation statistics
Cited Times:3[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/8935
Collection机器人学研究室
Affiliation1.Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, China
2.Graduate School, Chinese Academy of Sciences, Beijing, China
Recommended Citation
GB/T 7714
Zhou B,Peng Y,Han JD. UKF based estimation and tracking control of nonholonomic mobile robots with slipping[C]//IEEE Robot & Automat Soc, Shandong Univ, Chinese Univ Hong Kong, Chiba Inst Technol, Robot Soc Japan, Soc Instrument & Control Engn, Japan Soc Mech Engn, ROBIO Fdn. NEW YORK:IEEE,2007:2058-2063.
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