| Full Dynamic Model in the Loop Simulation for Path Tracking Control of a 6$ imes$6 Mobile Robot |
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Jin-Wook Huh |
| 6$ imes$6 이동로봇의 경로추종을 위한 동역학 시뮬레이션 |
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허진욱 |
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국방과학연구소 |
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| Abstract |
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In this paper, we develop a detailed full dynamic model which includes various rough terrains for 6-wheel skid-steering mobile robot based on the real experimental autonomous vehicle called Dog-Horse Robot. We also design a co-simulation for performance comparison of path tracking algorithms. The control architecture in the co-simulation can be divided into two levels. The high level control is the closed-loop control of path tracking to follow a given path, and the low level is concerned about torque control of wheel motion. The simulation using the mechanical data of the Dog-Horse Robot is performed under the Matlab/Simulink environment. We also simulate and evaluate the performance of the model based adaptive controller. |
| Key Words:
Full Dynamic Modeling, Rough Terrain, Path Tracking, Skid Steering |
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