Significant errors of train axle generators (tachometers) are due to wheel slip and slide. In this paper, an algorithm is designed to compensate for these errors. The algorithm identifies the wheel slip and slide by examining the variation of the processed vehicle longitudinal acceleration. Whenever wheel slip/slide is identified, then the vehicle speed is adjusted if a certain condition is met...

This paper introduces a novel method for slip angle estimation based on visually observing the traces produced by the wheels of a robot on soft, deformable terrain. The proposed algorithm uses a robust Hough transform enhanced by fuzzy reasoning to estimate the angle of inclination of the wheel trace with respect to the vehicle reference frame. Any deviation of the wheel track from the planned ...

Open-loop position estimation methods are commonly used in mobile robot applications. Their strength lies in the speed and simplicity with which an estimated position is determined. However, these methods can lead to inaccurate or unreliable estimates. Two position estimation methods are developed in this paper, one using a single optical flow sensor and a second using two optical sensors. The ...

Due to complex and nonlinear dynamics of a braking process and complexity in the tire–road interaction, the control of automotive braking systems performance simultaneously with the wheel slip represents a challenging problem. The non-optimal wheel slip level during braking, causing inability to achieve the desired tire–road friction force strongly influences the braking distance. In addition, ...

A model-based control for fast autonomous four-wheel mobile robots on soft soils is developed. This control strategy takes into account slip and skid effects to extend the mobility over planar granular soils. Each wheel is independently actuated by an electric motor. The overall objective is to follow a path roughly at relatively high speed. Some results obtained in dynamic simulation are prese...

adhesion level for the proper running of rail wheelset on track is crucial problem in detecting slippage to avoid accidents. the slippage of rail wheels has been observed applying forward and lateral motions to slip velocity and torsion motion. the longitudinal and lateral forces behavior is watched with respect to traction force to note correlation based on angle of attack. the deriving torque...

Predicting the tractive limitations of locomotion gears is of critical importance in a robotic vehicle system on natural terrain. In particular, it is imperative for an unmanned mobile robot to avoid getting stuck in loose soil to retain its mobility. From this perspective, this paper attempts to theoretically predict the limitations of a typical wheel in such loose soil based on traditional so...

Modern concepts of electrified drive trains for off-road vehicles allow for some new possibilities for control strategies. When considering traction efficiency, the most controllable factor is wheel-slippage. Many existing slip control systems use a certain threshold value of slip as reference, for example for farm tractors, electrohydraulic hitch control system (EHC) controls the implement, wh...

The precise position control, of multi-motor electric vehicles (EVs) by generating the asymmetric pulse generation is presented. The energy saving algorithm is implemented in the power drain control of EV system to improve the electrical safety and slip control of electric vehicle. The acceleration and Deceleration of the electric vehicle for wheel slip control were analyzed using the parameter...

Skid‐steered mobile robots have been widely used in exploring unknown environments and in military applications. In this paper, the tuning fuzzy Vector Field Orientation (FVFO) feedback control method is proposed for a four track wheel skid‐steered mobile robot (4‐TW SSMR) using flexible fuzzy logic control (FLC). The extended Kalman filter is utilized to e...