DocumentCode
3032961
Title
Experimental results on a traction control algorithm for mobile robots in volcano environment
Author
Caltabiano, Daniele ; Ciancitto, Danilo ; Muscato, Giovanni
Author_Institution
Dip. di Ingegneria Electtrica Elettronica e dei Sistemi, Univ. degli Studi di Catania, Italy
Volume
5
fYear
2004
fDate
26 April-1 May 2004
Firstpage
4375
Abstract
In this paper a traction control algorithm for mobile robots in outdoor environment is presented. The algorithm using a wheel slip estimator optimizes the traction in sandy terrains like those found near some volcanic vents. Some comparative tests with a PI control using a simulator show the adherence improvements. In order to analyze the algorithm efficiency in real conditions, several comparative tests have been executed on the P6W robot: a small robot with six independently actuated wheels.
Keywords
PI control; mobile robots; traction; velocity control; P6W robot; PI control; mobile robot; sandy terrains; traction control; volcanic vents; volcano environment; wheel slip estimator; Friction; Mobile robots; Road vehicles; Robot sensing systems; Testing; Torque control; Traction motors; Velocity measurement; Volcanoes; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1302406
Filename
1302406
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