Stabilization algorithm for a high speed car-like robot achieving steering maneuver

E. Lucet; Ch Grand; D. Sallé; Ph Bidaud

doi:10.1109/ROBOT.2008.4543595

Stabilization algorithm for a high speed car-like robot achieving steering maneuver

E. Lucet^*
, Ch Grand
, D. Sallé
, Ph Bidaud

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

22 Citations (Scopus)

Abstract

This paper deals with design and implementation of a stabilization algorithm for a car like robot performing high speed turns. The control of such a kind of system is rather difficult because of the complexity of the physical wheel-soil interaction model. In this paper, it is planned to analyze the complex dynamic model of this process to elaborate a stabilization algorithm only based on the measurement of the system yaw rate. Finally, a 3D simulation is performed to evaluate the efficiency of this designed stabilization algorithm.

Original language	English
Title of host publication	2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages	2540-2545
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2008.4543595
Publication status	Published - 2008
Externally published	Yes
Event	2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States Duration: 19 May 2008 → 23 May 2008

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Country/Territory	United States
City	Pasadena, CA
Period	19/05/08 → 23/05/08

Access to Document

10.1109/ROBOT.2008.4543595

Cite this

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title = "Stabilization algorithm for a high speed car-like robot achieving steering maneuver",

abstract = "This paper deals with design and implementation of a stabilization algorithm for a car like robot performing high speed turns. The control of such a kind of system is rather difficult because of the complexity of the physical wheel-soil interaction model. In this paper, it is planned to analyze the complex dynamic model of this process to elaborate a stabilization algorithm only based on the measurement of the system yaw rate. Finally, a 3D simulation is performed to evaluate the efficiency of this designed stabilization algorithm.",

author = "E. Lucet and Ch Grand and D. Sall{\'e} and Ph Bidaud",

year = "2008",

doi = "10.1109/ROBOT.2008.4543595",

language = "English",

isbn = "9781424416479",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "2540--2545",

booktitle = "2008 IEEE International Conference on Robotics and Automation, ICRA 2008",

note = "2008 IEEE International Conference on Robotics and Automation, ICRA 2008 ; Conference date: 19-05-2008 Through 23-05-2008",

}

Lucet, E, Grand, C, Sallé, D & Bidaud, P 2008, Stabilization algorithm for a high speed car-like robot achieving steering maneuver. in 2008 IEEE International Conference on Robotics and Automation, ICRA 2008., 4543595, Proceedings - IEEE International Conference on Robotics and Automation, pp. 2540-2545, 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, Pasadena, CA, United States, 19/05/08. https://doi.org/10.1109/ROBOT.2008.4543595

Stabilization algorithm for a high speed car-like robot achieving steering maneuver. / Lucet, E.; Grand, Ch; Sallé, D. et al.
2008 IEEE International Conference on Robotics and Automation, ICRA 2008. 2008. p. 2540-2545 4543595 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Lucet, E.

AU - Grand, Ch

AU - Sallé, D.

AU - Bidaud, Ph

PY - 2008

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N2 - This paper deals with design and implementation of a stabilization algorithm for a car like robot performing high speed turns. The control of such a kind of system is rather difficult because of the complexity of the physical wheel-soil interaction model. In this paper, it is planned to analyze the complex dynamic model of this process to elaborate a stabilization algorithm only based on the measurement of the system yaw rate. Finally, a 3D simulation is performed to evaluate the efficiency of this designed stabilization algorithm.

AB - This paper deals with design and implementation of a stabilization algorithm for a car like robot performing high speed turns. The control of such a kind of system is rather difficult because of the complexity of the physical wheel-soil interaction model. In this paper, it is planned to analyze the complex dynamic model of this process to elaborate a stabilization algorithm only based on the measurement of the system yaw rate. Finally, a 3D simulation is performed to evaluate the efficiency of this designed stabilization algorithm.

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DO - 10.1109/ROBOT.2008.4543595

M3 - Conference contribution

AN - SCOPUS:51649088265

SN - 9781424416479

T3 - Proceedings - IEEE International Conference on Robotics and Automation

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BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008

T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008

Y2 - 19 May 2008 through 23 May 2008

ER -

Stabilization algorithm for a high speed car-like robot achieving steering maneuver

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