Autonomous Vehicles, Volume 2

7Longitudinally Variant 4W4D Robot Slipagge-Based Path Tracking Control

Edgar A. Martínez-García¹*, Roman Lavrenov² and Evgeni Magid²

¹Institute of Engineering and Technology, Universidad Autonoma de Ciudad Juárez, Chih., Mexico

²Institute of Information Technology and Intelligent Systems, Kazan Federal University, Russian Federation, Russia

Abstract

This research proposes a model-based control of a four-wheel robotized vehicle based on its wheel slippage effects. A four-wheel robot with in-wheel asynchronous drives is the focus of study in this chapter. A non-holonomic vehicle cannot afford to follow certain space of Cartesian positions at any time due to its natural kinematic constraints. Therefore, this work proposes to reduce such constraint effects by taking advantage of slippage in order to enhance the vehicle’s maneuverability by controlling its z-spin or zero-turn point by a set of kinematic equations that describe the motion system. This work assumes a vehicle with instantaneous longitudinal length variation, that combined with the zero turn model results in a slippage control that enhances holonomy and maneuverability. Having the possibility to control the Cartesian position of the zero-turn point, then it may be deployed as an additional degree of freedom within proposed motion equations. Thus, such models conducted to a nonlinear trajectory tracking recursive controller. Moreover, a set of deterministic observers purposed for self-positioning are considered. Observers ...