4 accepted papers
Strategies to reduce slippage and disturbing wheel-terrain interactions are essential to improve navigation and motion control of field robots. Thus, this work proposes an integral control architecture based on a distributed tube-based nonlinear Model Predictive Control scheme to regulate tire dynam
Reducing material spillage by robotic mining mobile manipulators, such as front-end loaders, is necessary to improve mining operations. To this end, the present work proposes an approach to reduce disturbances on the end-effector induced by the terrain and propagated through the wheels and arm links…
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…
Performance of path tracking controllers for mobile robots is usually constrained to the tuning of a set of gains within previously known boundaries. In industrial applications, controller tuning is a time consuming task, which is especially critical when the gain values have a considerable impact o…