Hostname: page-component-cd9895bd7-mkpzs Total loading time: 0 Render date: 2024-12-25T05:30:48.347Z Has data issue: false hasContentIssue false
  • English
  • Français

Synthesis of control law considering wheel–ground interaction and contact stability of autonomous mobile robot

Published online by Cambridge University Press:  11 April 2011

Teresa Zielinska  and
Andrzej Chmielniak
Teresa Zielinska*
Affiliation:
Institute of Aeronautics and Applied Mechanics (WUT–IAAM), Warsaw University of Technology, ul. Nowowiejska 24, 00-665 Warsaw, Poland
Andrzej Chmielniak
Affiliation:
Institute of Aeronautics and Applied Mechanics (WUT–IAAM), Warsaw University of Technology, ul. Nowowiejska 24, 00-665 Warsaw, Poland
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

We proposed a new method of mobile robot motion synthesis. A dynamical model describing the slip phenomenon taking into account the wheel–ground interaction was derived. The novelty of this work stems from the assumption that the slip already exists and the wheel motion pattern must reduce it, not exceeding the acceleration and torque limits. Moreover, a slip estimation method is proposed by introducing a critical friction coefficient. The theoretical considerations are confirmed by simulation and experiment. This research was performed in the framework of the PROTEUS project aiming at the development of autonomous robots for inspection and exploration. These robots will move in natural terrain.

Keywords

Control of robotics systemsMobile robotsMotion planningLand robots
Type
Articles
Information
Robotica , Volume 29 , Issue 7 , December 2011 , pp. 981 - 990
Copyright
Copyright © Cambridge University Press 2011

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Brown, G. I. and Hung, J. C., “A mathematical model for vehicle steering control.” IEEE Int. Conf. Industrial Electronics, Control and Instrumentation, 3, 2027–2032 (1994).Google Scholar
2.Canudas-de-Wit, C., Tsiotras, P., Velenis, E., Basset, M. and Gissnger, G., “Dynamic friction models for road/tire longitudinal interaction,” Veh. Syst. Dyn. 39 (3), 189–226 (2003).CrossRefGoogle Scholar
3.Iagnemma, K. and Dubovsky, S., “Traction control of wheeled robotics vehicles in rough terrain with application to planetary rovers,” Int. J. Robot. Res. 23 (10–11), 1029–1040 (2004).CrossRefGoogle Scholar
4.Janosi, Z., The Analytical Determination of Drawbar Pull as a Function of Slip for Tracked Vehicles in Deformable Soil-Vehicle Systems (Edicioni Minerva Technica, Torino, Italy, 1961) pp. 704–736.Google Scholar
5.Kienhofer, F. and Cebon, D., “An Investigation of ABS Strategies for Articulated Vehicles,” Proceedings of the 10th International Symposium on Heavy Vehicles Hieght and Dimenstions, South Africa (Mar. 14–16, 2004) pp. 248–254.Google Scholar
6.Kin, K., Yano, O. and Urabe, H., “Enhancements in vehicle stability and steerability with slip control,” Soc. Automot. Eng. Japan – JSAE Rev. 24, 71–79 (2003).CrossRefGoogle Scholar
7.Komandi, G., “An evaluation of the concept of rolling resistance,” J. Terramechanics 36, 159–166 (1999).CrossRefGoogle Scholar
8.Muro, T. and O'Brien, J., Terramechanics. Land Locomotion Mechanics (A.A. Balkema Publishers, Tokyo, 2004).Google Scholar
9.Pacejka, H. B. and Sharp, R. S., “Shear force development by pneumatic tyres in steady state conditions. A review of modelling aspects,” Veh. Syst. Dyn. 20, 121–176 (1991).Google Scholar
10.Sarkar, N. and Yun, X., “Traction Control of Wheeled Vehicle Using Dynamic Feedback Approach.” Proceedings of IEEEE/RSJ International Conference on Intelligent Robots and Systems, Victoria, BC, Canada (Oct. 13–17, 1998) pp. 413–418.Google Scholar
11.Shoop, S. A., “Finite Element Method Modelling of Tire-Terrain Interaction,” Report ERDC/CRREL TR-01-16 (Engineers Research and Development Center, USA, 2001).Google Scholar
12.Siegward, R., Lamon, P., Estier, T., Lauria, M. and Piguet, R., “Innovative design for wheeled locomotion in rough terrain,” J. Robot. Auton. Syst. 40, 151–162 (2003).CrossRefGoogle Scholar
13.Smieszek, M., “Automotive Reibwertprognose zwischen Reifen and Fahrbahn” Motion Description and Energy Requirements of Automatically Controlled Transport Vehicle – Mobile Robot (in Polish) (Rzeszow University of Technology Publishing House, 2000).Google Scholar
14.Trabelsi, A., Automotive Reibwertprognose zwischen Reifen and Fahrbahn Dissertation (Fortschritt-Berichte VDI, Reihe 12, Nr.608. MZH Hannower, promotor B.Heimann, 2005).Google Scholar
15.Yoshida, K. and Hamano, H., “Motion Dynamics of a Rover with Slip-Based Traction Control Model,” Proceedings of the IEEE International Conference on Robotics and Automation, Washington, DC, USA (May 11–15, 2002) pp. 3155–3160.Google Scholar
16.Li, Y. P., Zielinska, T., Ang, M. H. Jr, and Lim, C. W., “Wheel-Ground Interaction Modelling and Torque Distribution for a Redundant Mobile Robot,” Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), Orlando, FL, USA, (May 15–19, 2006) pp. 3362–3367, ISSN: 1050-4729, ISBN: 0-7803-9505-0.Google Scholar
17.Ward, Ch. C. and Iagenma, K., “A dynamic-model-based wheel slip detector for mobile robots on outdoor terrain,” IEEE Trans. Robot. 24 (4), 24–35 (2008).Google Scholar
18.Wong, J. Y., Theory of Ground Vehicles (Wiley, New York, NY, USA 2001).Google Scholar
19.Li, Ya. P., Ielinska, Z. T., Ang, M. H. and Liu, W., “Vehicle Dynamics of Redundant Mobile Robots with Powered Caster Wheels,” In: RoManSy 16, Robot Design, Dynamics and Control, Int. Center for Mechanical Sciences, Courses and Lectures no.487 (Zielinska, T. and Zielinski, C., eds.) (Springer, Wien, New York, NY, USA, 2006) pp. 221–228, ISBN-3-211-36064-6.Google Scholar