Adaptive control of four-wheel-steering off-road mobile robots: Application to path tracking and heading control in presence of sliding.
Christophe CariouRoland LenainBenoît ThuilotPhilippe MartinetPublished in: IROS (2008)
Keyphrases
- adaptive control
- wheeled mobile robots
- mobile robot
- control method
- feedback control
- nonlinear systems
- control problems
- dynamic environments
- adaptive controller
- autonomous control
- path planning
- real time
- trajectory tracking
- variable structure
- control system
- expert systems
- reinforcement learning
- lyapunov function
- computer vision