Anti-lock braking and traction control concept for all-terrain robotic vehicles

This paper focuses on a new traction control concept for autonomous land-vehicles. This system avoids wheel slip greater than the critical wheel slip S_cr during acceleration and deceleration. We present an original approach to detecting an excess over S_cr , without knowledge of its actual value, which depends on tire/ground combinations. This approach allows the control system to adapt itself to every kind of terrain. In order to illustrate a potential application of this concept, we present the design of an autonomous all-terrain vehicle, for which this control strategy has been developed. Sensor instrumentation, crucial for system stability, is also discussed