A comparison between different traction control methods for a field robot

A control strategy for a two wheels planar robot that distributes the motor torques to optimize the traction is presented. A comparison between this strategy and PI control is described using the tests results obtained through a dynamic simulator. This work also shows how the proposed control strategy improves the traction in most situations with respect to a simple PI control, but when the adherence is lost the PI control is more reliable. Finally, this work examines the problems of this strategy and suggests how to solve them.