Contribution to the modeling and control of mobile robots in presence of stiding : application to path tracking for agricultural vehicles
type: Dataset
description: This dissertation addresses the topic of automatic guidance of mobile robots in natural en- vironment In particular path tracking on low adherent ground is investigated with a special focus on the experimental application automatic guidance of farm vehicles relying on a GPS sensor In such conditions the classical hypothesis of pure rolling without sliding is no longer relevant The numerous control laws built on such an hypothesis lead in this case to an important loss of precision unacceptable for the considered application The objective is thus to propose control algorithms making it possible to preserve the accuracy of the path tracking whatever the adherence conditions the configuration of the ground and the shape of the desired reference trajectory The design of relevant and tractable models is first described Because of the complexity in obtaining the parameters required in a dynamic model of vehicle (especially those linked to the tire/ground contact) dynamic models have been rejected for the control purpose Instead two alternative models called "extended kinematic models" have been proposed They allow to describe precisely vehicle performances - including sliding phenomena - with only two parameters to be estimated in real time Moreover such a point of view preserves a kinematic description suitable for the design of control algorithms In order to use these models the on-line estimation of these parameters is necessary It is achieved by two different kinds of estimator The first one relies on a direct calculation of the adherence properties (based on the difference between the actual process and the theoretical one when pure rolling conditions are respected) The second principle consists in observers design In order to apply this concept to the system considered the property of duality between control and observation is used to build robust observation algorithms with respect to the feature of the measurement system Based on these extended models two types of…
landing page: https://theses.hal.science/tel-00683718
identifier: NNT: 2005CLF21611
keyword: infoeu-reposemanticsdoctoralthesis
keyword: robots-mobiles
keyword: spiautoengineering-sciences-physicsautomatic
keyword: systemes-holonomes
keyword: theses
issued: 2026-05-23T04:55:44.440015
modified: 2026-05-23T04:55:44.440023
language: fr
contact point: Organization
  fn: CCSD

test_moissonnage_selune
type: Agent

Contribution to the modeling and control of mobile robots in presence of stiding : application to path tracking for agricultural vehicles
type: Distribution
format: HTML
access URL: https://theses.hal.science/tel-00683718
issued: 2026-05-23T04:55:44.451074
modified: 2026-05-23T04:55:44.420496