Online velocity fluctuation of off-road wheeled mobile robots: A reinforcement learning approach
François Gauthier-Clerc Ashley Hill Jean Laneurit Roland Lenain Éric Lucet François Gauthier-Clerc Ashley Hill Jean Laneurit Roland Lenain Éric Lucet
During the off-road path following of a wheeled mobile robot in presence of poor grip conditions, the longitudinal velocity should be limited in order to maintain safe navigation with limited tracking errors, while at the same time being high enough to minimize travel time. Thus, this paper presents a new approach of online speed fluctuation, capable of limiting the lateral error below a given thr...