Traction Control of a Six-wheel Robot using Wheel Slip Dynamics
نویسندگان
چکیده
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. Te inverse kinematics is to obtain the wheel velocities and steering angles from the desired forward velocity and turning rate of the robot. Traction Control also developed to improve traction by comparing information from onboard sensors and wheel velocities to minimize slip of the wheel. Finally, a small robot is built and tested in various conditions of surfaces including vertical obstacle, inclined surface and uneven terrain outdoor condition.
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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