Traction Control with Brake Pressure Estimation
نویسندگان
چکیده
منابع مشابه
Traction Estimation and Control for Mobile Robots
Mobile Robots are used to venture through types of environments where wheel slip is a threat. Wheel slip is a hazard to mobile robots in that it introduces error in dead reckoning measurement and in some instances causes the robot to halt is forward progress. To compensate for traction loss several methods are used to determine the terrain characteristics. One of these methods is Pacejka’s Tire...
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A method for kinematics modeling of a six-wheel Rocker-Bogie mobile robot is described in detail. The forward kinematics is derived by using wheel Jacobian matrices in conjunction with wheel-ground contact angle estimation. The inverse kinematics is to obtain the wheel velocities and steering angles from the desired forward velocity and turning rate of the robot. Traction Control is also develo...
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ژورنال
عنوان ژورنال: Journal of The Korean Society for Fluid Power & Construction Equipments
سال: 2013
ISSN: 2234-8328
DOI: 10.7839/ksfc.2013.10.3.001