Probabilistic approaches for self-tuning path tracking controllers using prior knowledge of the terrain

Alvaro Javier Prado, Fernando Auat Cheein

Research output: Contribution to conferencePaper

1 Citation (Scopus)

Abstract

© 2016 IEEE. Nowadays, agricultural and mining industry applications require saving energy in mobile robotic tasks. This critical issue encouraged us to enhance the performance of path tracking controllers during manoeuvring over slippery and rough terrains. In this scenario, we propose probabilistic approaches under machine learning schemes in order to optimally self-tune the controller. The approaches are real time implemented and tested in a mining machinery skid steer loader Cat® 262C under gravel and muddy terrains (and their transitions). Finally, experimental results presented in this work show that the performance of the controller enhances up to 20% (average) without compromising saturations in the actuators.
Original languageEnglish
Pages3095-3100
Number of pages6
DOIs
Publication statusPublished - 28 Nov 2016
EventIEEE International Conference on Intelligent Robots and Systems -
Duration: 28 Nov 2016 → …

Conference

ConferenceIEEE International Conference on Intelligent Robots and Systems
Period28/11/16 → …

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    Prado, A. J., & Cheein, F. A. (2016). Probabilistic approaches for self-tuning path tracking controllers using prior knowledge of the terrain. 3095-3100. Paper presented at IEEE International Conference on Intelligent Robots and Systems, . https://doi.org/10.1109/IROS.2016.7759479