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

— 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 wheelsoil 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.

• Type: Conference
• Year: 2008
• Where: ICRA
• Authors: Eric Lucet, Christophe Grand, Damien Sallé, Philippe Bidaud
• Keywords: Complex Dynamic Model, ICRA 2008, Robotics, Stabilization Algorithm, Wheelsoil Interaction Model