Trajectory tracking for autonomous turf-care vehicle using Liouvillian approach

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

Autonomous mobile robots and vehicles are a longstanding but recently reinvigorated research area, due in part to the commercialization of sensors technologies and processing power. In this work, a fully autonomous turf-care robot is used as a basis for development of a trajectory control solution with application to differential-drive robots with displaced end-effectors. A kinematic model for the vehicle is derived as well as expressions for the movement of the tool (end-effector), shown to be a system of the Liouvillan type. The Liouvillan model allows for the development of a feed-forward controller and feed-back controller, which are combined to allow trajectory tracking based on an arbitrary linear-segmented path. The path will ideally be a covering path and can be generated by an algorithm described in previous work. To validate the model and controller, the control solution is tested by numerical simulation against a kinematic model in MATLAB/Simulink and additionally against a dynamic 6-DOF model in OSRF Gazebo software. The developed controller enables sufficient tool trajectory-tracking in the kinematic model, but there are significant oscillations and deviations when used with a dynamic model, warranting further work on the feedback controller.

Original languageEnglish
Title of host publicationProceedings of the 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
PublisherIEEE
Publication dateSep 2018
Pages1438-1443
ISBN (Print)978-1-5386-1854-7
DOIs
Publication statusPublished - Sep 2018
Event2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand
Duration: 9. Jul 201812. Jul 2018

Conference

Conference2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
CountryNew Zealand
CityAuckland
Period09/07/201812/07/2018

Fingerprint

Trajectories
Controllers
Kinematics
End effectors
Robots
Feedback
Mobile robots
MATLAB
Dynamic models
Sensors
Computer simulation
Processing

Cite this

Mai, C., Top, S., & Jouffroy, J. (2018). Trajectory tracking for autonomous turf-care vehicle using Liouvillian approach. In Proceedings of the 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) (pp. 1438-1443). IEEE. https://doi.org/10.1109/AIM.2018.8452347
Mai, Christian ; Top, Søren ; Jouffroy, Jerome. / Trajectory tracking for autonomous turf-care vehicle using Liouvillian approach. Proceedings of the 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). IEEE, 2018. pp. 1438-1443
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Mai, C, Top, S & Jouffroy, J 2018, Trajectory tracking for autonomous turf-care vehicle using Liouvillian approach. in Proceedings of the 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). IEEE, pp. 1438-1443, 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018, Auckland, New Zealand, 09/07/2018. https://doi.org/10.1109/AIM.2018.8452347

Trajectory tracking for autonomous turf-care vehicle using Liouvillian approach. / Mai, Christian; Top, Søren; Jouffroy, Jerome.

Proceedings of the 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). IEEE, 2018. p. 1438-1443.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

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Mai C, Top S, Jouffroy J. Trajectory tracking for autonomous turf-care vehicle using Liouvillian approach. In Proceedings of the 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). IEEE. 2018. p. 1438-1443 https://doi.org/10.1109/AIM.2018.8452347