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IROS
2006
IEEE

Plural Wheels Control based on Slip Estimation

9 years 5 months ago
Plural Wheels Control based on Slip Estimation
- In our current research, we are developing a holonomic mobile system which is capable of running over the step. This system realizes omni-directional motion on flat floor using special wheels and passes over non-flat ground in forward or backward direction using the passive suspension mechanism. In order to realize the high mobile performance during step climbing, it is required to reduce wheel slippage for maximizing wheel traction. This paper proposes a new plural wheel control method based on wheel slip estimation. Our key idea is estimation of wheel slippage comparing with the loads and rotation velocities of all actuated wheels, and using this result for wheel control of the vehicle for reducing wheel slippage. The controller can adjust control tractions of plural wheels when the wheel begins to slip and can improve the mobile performance of the vehicle. The performance of our proposed control scheme is experimented by computer simulations and experiments.
Daisuke Chugo, Hajime Asama, Kuniaki Kawabata, Hay
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Daisuke Chugo, Hajime Asama, Kuniaki Kawabata, Hayato Kaetsu, Taketoshi Mishima
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