Path Tracking Control for a Double Steering Off-Road Mobile Robot

Abstract

This paper proposes a LQR controller for a double steering fast off-road mobile robot. The benefits of double steering robots are already well-known for low speed motion as the vehicle can track paths with high and small curvature. We extend this to dynamic motion (high speed) including wheel-ground slippage phenomena. We show that this double steering controller can ensure a good accuracy of path following at high and low speeds. This path tracking controller is evaluated by both numerical simulations and experimental tests in real conditions.