Dual-Rate Extended Kalman Filter Based Path-Following Motion Control for an Unmanned Ground Vehicle: Realistic Simulation

In this paper, a two-wheel drive unmanned ground vehicle (UGV) path-following motion control is proposed. The UGV is equipped with encoders to sense angular velocities and a beacon system which provides position and orientation data. Whereas velocities can be sampled at a fast rate, position and ori...

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Autores principales:	Rafael Carbonell, Ángel Cuenca, Vicente Casanova, Ricardo Pizá, Julián J. Salt Llobregat
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	unmanned ground vehicle Kalman filter vehicle modeling and simulation Chemical technology TP1-1185
Acceso en línea:	https://doaj.org/article/f8edb4da320e4be68f1f776109f82e00
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id	oai:doaj.org-article:f8edb4da320e4be68f1f776109f82e00
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spelling	oai:doaj.org-article:f8edb4da320e4be68f1f776109f82e002021-11-25T18:57:25ZDual-Rate Extended Kalman Filter Based Path-Following Motion Control for an Unmanned Ground Vehicle: Realistic Simulation10.3390/s212275571424-8220https://doaj.org/article/f8edb4da320e4be68f1f776109f82e002021-11-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/22/7557https://doaj.org/toc/1424-8220In this paper, a two-wheel drive unmanned ground vehicle (UGV) path-following motion control is proposed. The UGV is equipped with encoders to sense angular velocities and a beacon system which provides position and orientation data. Whereas velocities can be sampled at a fast rate, position and orientation can only be sensed at a slower rate. Designing a dynamic controller at this slower rate implies not reaching the desired control requirements, and hence, the UGV is not able to follow the predefined path. The use of dual-rate extended Kalman filtering techniques enables the estimation of the fast-rate non-available position and orientation measurements. As a result, a fast-rate dynamic controller can be designed, which is provided with the fast-rate estimates to generate the control signal. The fast-rate controller is able to achieve a satisfactory path following, outperforming the slow-rate counterpart. Additionally, the dual-rate extended Kalman filter (DREKF) is fit for dealing with non-linear dynamics of the vehicle and possible Gaussian-like modeling and measurement uncertainties. A Simscape Multibody™ (Matlab<sup>®</sup>/Simulink) model has been developed for a realistic simulation, considering the contact forces between the wheels and the ground, not included in the kinematic and dynamic UGV representation. Non-linear behavior of the motors and limited resolution of the encoders have also been included in the model for a more accurate simulation of the real vehicle. The simulation model has been experimentally validated from the real process. Simulation results reveal the benefits of the control solution.Rafael CarbonellÁngel CuencaVicente CasanovaRicardo PizáJulián J. Salt LlobregatMDPI AGarticleunmanned ground vehicleKalman filtervehicle modeling and simulationChemical technologyTP1-1185ENSensors, Vol 21, Iss 7557, p 7557 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	unmanned ground vehicle Kalman filter vehicle modeling and simulation Chemical technology TP1-1185
spellingShingle	unmanned ground vehicle Kalman filter vehicle modeling and simulation Chemical technology TP1-1185 Rafael Carbonell Ángel Cuenca Vicente Casanova Ricardo Pizá Julián J. Salt Llobregat Dual-Rate Extended Kalman Filter Based Path-Following Motion Control for an Unmanned Ground Vehicle: Realistic Simulation
description	In this paper, a two-wheel drive unmanned ground vehicle (UGV) path-following motion control is proposed. The UGV is equipped with encoders to sense angular velocities and a beacon system which provides position and orientation data. Whereas velocities can be sampled at a fast rate, position and orientation can only be sensed at a slower rate. Designing a dynamic controller at this slower rate implies not reaching the desired control requirements, and hence, the UGV is not able to follow the predefined path. The use of dual-rate extended Kalman filtering techniques enables the estimation of the fast-rate non-available position and orientation measurements. As a result, a fast-rate dynamic controller can be designed, which is provided with the fast-rate estimates to generate the control signal. The fast-rate controller is able to achieve a satisfactory path following, outperforming the slow-rate counterpart. Additionally, the dual-rate extended Kalman filter (DREKF) is fit for dealing with non-linear dynamics of the vehicle and possible Gaussian-like modeling and measurement uncertainties. A Simscape Multibody™ (Matlab<sup>®</sup>/Simulink) model has been developed for a realistic simulation, considering the contact forces between the wheels and the ground, not included in the kinematic and dynamic UGV representation. Non-linear behavior of the motors and limited resolution of the encoders have also been included in the model for a more accurate simulation of the real vehicle. The simulation model has been experimentally validated from the real process. Simulation results reveal the benefits of the control solution.
format	article
author	Rafael Carbonell Ángel Cuenca Vicente Casanova Ricardo Pizá Julián J. Salt Llobregat
author_facet	Rafael Carbonell Ángel Cuenca Vicente Casanova Ricardo Pizá Julián J. Salt Llobregat
author_sort	Rafael Carbonell
title	Dual-Rate Extended Kalman Filter Based Path-Following Motion Control for an Unmanned Ground Vehicle: Realistic Simulation
title_short	Dual-Rate Extended Kalman Filter Based Path-Following Motion Control for an Unmanned Ground Vehicle: Realistic Simulation
title_full	Dual-Rate Extended Kalman Filter Based Path-Following Motion Control for an Unmanned Ground Vehicle: Realistic Simulation
title_fullStr	Dual-Rate Extended Kalman Filter Based Path-Following Motion Control for an Unmanned Ground Vehicle: Realistic Simulation
title_full_unstemmed	Dual-Rate Extended Kalman Filter Based Path-Following Motion Control for an Unmanned Ground Vehicle: Realistic Simulation
title_sort	dual-rate extended kalman filter based path-following motion control for an unmanned ground vehicle: realistic simulation
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/f8edb4da320e4be68f1f776109f82e00
work_keys_str_mv	AT rafaelcarbonell dualrateextendedkalmanfilterbasedpathfollowingmotioncontrolforanunmannedgroundvehiclerealisticsimulation AT angelcuenca dualrateextendedkalmanfilterbasedpathfollowingmotioncontrolforanunmannedgroundvehiclerealisticsimulation AT vicentecasanova dualrateextendedkalmanfilterbasedpathfollowingmotioncontrolforanunmannedgroundvehiclerealisticsimulation AT ricardopiza dualrateextendedkalmanfilterbasedpathfollowingmotioncontrolforanunmannedgroundvehiclerealisticsimulation AT julianjsaltllobregat dualrateextendedkalmanfilterbasedpathfollowingmotioncontrolforanunmannedgroundvehiclerealisticsimulation
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Dual-Rate Extended Kalman Filter Based Path-Following Motion Control for an Unmanned Ground Vehicle: Realistic Simulation

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