Abstract
In this paper, a novel traction control scheme for a mobile robot with six independent driven wheels on loose soil is presented. First, a robust model-based slide mode controller is designed to estimate the traction force F x , F y and steering moment M z for executing a desired motion of the robot body. Because of actuation redundancy, the degree of freedom of task space is lower than the number of wheel drive variables, the paper uses an improved pseudo-inverse matrix to compute the tractive forces of the redundant drive wheels. In view of each wheel’s slip behavior on loose soil, a slip compensation term is developed to correct the output of slide mode controller. The simulations show clearly the advantage of the traction control versus traditional kinematic control.
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Lei, Z., Cui, P., Ju, H., Peng, X. (2008). Traction Control on Loose Soil for a Redundantly Actuated Mobile Robot. In: **ong, C., Huang, Y., **ong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_123
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DOI: https://doi.org/10.1007/978-3-540-88513-9_123
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-88512-2
Online ISBN: 978-3-540-88513-9
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