Mobile robots are increasingly being employed in challenging outdoor applications including search and rescue for disaster recovery, construction, mining, agriculture, military and planetary exploration. In this kind of robotic applications, the accuracy and robustness of the motion control system is greatly affected by the occurrence of undesired dynamics effects such as wheel slippage. In this paper a cross-coupled controller is presented that can be integrated with 4-wheeldrive/ 4-wheel-steer robots to optimize the wheel motors’ control algorithm and reduce synchronization errors that would otherwise result in wheel slip with conventional controllers. Experimental results, obtained with an all-terrain rover operating outdoor, are presented to validate this approach showing its effectiveness in reducing slippage and vehicle posture errors.
Traction Control for Four-Wheel Drive Robots
REINA, GIULIO;GIANNOCCARO, NICOLA IVAN;MESSINA, Arcangelo
2013-01-01
Abstract
Mobile robots are increasingly being employed in challenging outdoor applications including search and rescue for disaster recovery, construction, mining, agriculture, military and planetary exploration. In this kind of robotic applications, the accuracy and robustness of the motion control system is greatly affected by the occurrence of undesired dynamics effects such as wheel slippage. In this paper a cross-coupled controller is presented that can be integrated with 4-wheeldrive/ 4-wheel-steer robots to optimize the wheel motors’ control algorithm and reduce synchronization errors that would otherwise result in wheel slip with conventional controllers. Experimental results, obtained with an all-terrain rover operating outdoor, are presented to validate this approach showing its effectiveness in reducing slippage and vehicle posture errors.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
