AbstractWe present a method for estimating the net traction and resistive wheel torques for a suspensionless, differential-steered robot on rigid or deformable terrain. The method, based on extended Kalman–Bucy filtering (EKBF), determines time histories of net traction and resistive wheel torques and wheel slips during steady or transient maneuvers. This method assumes good knowledge of the vehicle dynamics and treats the unknown forces and moments due to terrain response as random variables to be estimated. A proprioceptive sensor suite renders a subset of the unknown forces and associated wheel slip and slip angles observable. This methodology decouples semi-empirical terramechanics models from the net effect of the vehicle–terrain interaction, namely the net traction developed by the vehicle on the terrain. By collecting sensor data and processing data off-line, force–slip characteristics are identified irrespective of the underlying terramechanics. These characteristics can in turn support development or validation of terramechanics models for the vehicle–terrain system. For autonomous robots, real-time estimates of force–slip characteristics can provide setpoints for traction and steering control, increasing vehicle performance, speed, and maneuverability. Finally, force–slip estimation is the first step in identifying terrain parameters during normal maneuvering. The methodology is demonstrated through both simulation and physical testing using a 13-kg robot.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Estimation of net traction for differential-steered wheeled robots


    Beteiligte:
    Ray, Laura R. (Autor:in) / Brande, Devin C. (Autor:in) / Lever, James H. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2008-03-16


    Format / Umfang :

    13 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Estimation of net traction for differential-steered wheeled robots

    Ray, Laura R. / Brande, Devin C. / Lever, James H. | Tema Archiv | 2009



    Estimation of net traction for differential-steered wheeled robots

    Ray,L.R. / Brnde,D.C. / Lever,J.H. et al. | Kraftfahrwesen | 2009


    Modeling and Simulation of a Differential Torque Steered Wheeled Vehicle

    W. R. Meldrum / F. B. Hoogterp / A. R. Kovnat | NTIS | 1999