{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,26]],"date-time":"2026-02-26T08:31:06Z","timestamp":1772094666015,"version":"3.50.1"},"reference-count":17,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2013,1,8]],"date-time":"2013-01-08T00:00:00Z","timestamp":1357603200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Mobile robots are increasingly being used in challenging outdoor environments for applications that include construction, mining, agriculture, military and planetary exploration. In order to accomplish the planned task, it is critical that the motion control system ensure accuracy and robustness. The achievement of high performance on rough terrain is tightly connected with the minimization of vehicle-terrain dynamics effects such as slipping and skidding. This paper presents a cross-coupled controller for a 4-wheel-drive\/4-wheel-steer robot, which optimizes the wheel motors\u2019 control algorithm to reduce synchronization errors that would otherwise result in wheel slip with conventional controllers. Experimental results, obtained with an all-terrain rover operating on agricultural terrain, are presented to validate the system. It is shown that the proposed approach is effective in reducing slippage and vehicle posture errors.<\/jats:p>","DOI":"10.3390\/s130100785","type":"journal-article","created":{"date-parts":[[2013,1,8]],"date-time":"2013-01-08T21:24:12Z","timestamp":1357680252000},"page":"785-800","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["Cross-Coupled Control for All-Terrain Rovers"],"prefix":"10.3390","volume":"13","author":[{"given":"Giulio","family":"Reina","sequence":"first","affiliation":[{"name":"Department of Engineering for Innovation, University of Salento, via Arnesano, 73100 Lecce, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2013,1,8]]},"reference":[{"key":"ref_1","unstructured":"Lindemann, R., and Voorhees, C. (October, January 10\u2013). Mars Exploration Rover Mobility Assembly Design, Test and Performance. 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Pisa, Italy.","DOI":"10.1109\/ICAR.1991.240571"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"1219","DOI":"10.1163\/016918610X501499","article-title":"Dynamic simulation-based action planner for a reconfigurable hybrid leg-wheel planetary exploration rover","volume":"24","author":"Rohmer","year":"2010","journal-title":"Adv. Robot."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"73","DOI":"10.1115\/1.3143840","article-title":"Motion control analysis of a mobile robot","volume":"109","author":"Borenstein","year":"1987","journal-title":"J. Dyn. Meas. Control"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"273","DOI":"10.1023\/B:AURO.0000025791.45313.01","article-title":"Methods for the reduction of odometry errors in over-constrained mobile robots","volume":"16","author":"Ojeda","year":"2004","journal-title":"Auton. Robot"},{"key":"ref_8","unstructured":"Makatchev, M., Lang, S., Tso, S.K., and McPhee, J. (2000, January 14\u201317). 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Robot"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"173","DOI":"10.1504\/IJVAS.2006.012206","article-title":"The FLEXnav precision dead-reckoning systems","volume":"4","author":"Ojeda","year":"2006","journal-title":"Int. J. Veh. Auton. Syst."},{"key":"ref_14","unstructured":"Reina, G., and Foglia, M. On the mobility of all-terrain rovers. Available online: http:\/\/www.emeraldinsight.com\/journals.htm?articleid=17072694 (accessed on 8 January 2013)."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"35","DOI":"10.1109\/37.248002","article-title":"Cross-coupled motion controller for mobile robots","volume":"13","author":"Feng","year":"1993","journal-title":"IEEE Control Syst."},{"key":"ref_16","unstructured":"Ojeda, L., Reina, G., and Borenstein, J. (March, January 6\u2013). Experimental Results from FLEXnav: An Expert Rule-based Dead-reckoning System for Mars Rovers. Big Sky, MT, USA."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"366","DOI":"10.1109\/TRO.2005.862480","article-title":"Current-based slippage detection and odometry correction for mobile robots and planetary rovers","volume":"22","author":"Ojeda","year":"2006","journal-title":"IEEE Trans. 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