Traction Control on Loose Soil for a Redundantly Actuated Mobile Robot

  • Authors:

  • Zhenwu Lei;Pingyuan Cui;Hehua Ju;Xingwen Peng

  • Affiliations:

  • Beijing University of Technology, Beijing, China;Beijing University of Technology, Beijing, China and Harbin Institute of Technology, Harbin, China;Beijing University of Technology, Beijing, China;Beijing University of Technology, Beijing, China

  • Venue:
  • ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
  • Year:
  • 2008

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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.