Mobile robot control in off-road conditions and under high dynamics

This video illustrates the motion-control strategy detailed in Chap. 49, Springer Handbook of Robotics, 2nd edn (2016), when the ideal rolling-without-sliding conditions are not met. In the two segments, the robot follows a previously recorded trajectory, using RTK GPS. The first segment illustrates the capabilities on uneven ground at low speed, while the second shows results at high speed. Accuracy within a few centimeters is obtained thanks to adaptive and predictive approaches, whereas accuracy close to 1 m in the first case and 5 m for the second case are observed using the rolling-without-sliding assumption.