Dynamic Control Algorithm Design of the 6 Wheel-drive All-terrain Robotic Skid-steered Vehicles

This paper presents a novel robust dynamic feedback control algorithm, using a hybrid extended Kalman filter based fusion of distance from odometer and attitude from IMU developed for the all-terrain, skid-steered and six-wheeled drive vehicle. The vehicle is a teleoperated unmanned ground vehicle custom fitted with an inertial measurement unit, motor encoders and a GPS. In order to enable the vehicle for autonomous application, the proposed dynamic control algorithm is combined with the vehicle's sensor measurements to compute key parameters for the vehicle. The control inputs are respectively the linear velocity and the yaw. Simulation results are presented in this paper to prove the effectiveness of our proposed control algorithm.