A rough terrain traction control technique for all-wheel-drive mobile robots

Silva, Alexandre F. Barral; Santos, Auderi Vicente; Meggiolaro, Marco Antônio; Neto, Mauro Speranza

doi:10.1590/s1678-58782010000400011

Cited by 11 publications

(9 citation statements)

References 14 publications

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“…As already mentioned, the most popular objective function for optimizing rover operation is friction required for negotiating the given terrain. 1–3,12–23 Power consumption, 2,3,24 and traction force 4 have also been considered as objective functions. As the nature of the terrain and the available coefficient of friction are not known in remote locations, we consider minimizing required friction as our objective.…”

Section: Minimizing Friction Required For Climbingmentioning

confidence: 99%

An improved formulation for optimizing rocker-bogie suspension rover for climbing steps

Noble

Issac

2019

Proceedings of the Institution of Mechanical Engineers, Part C:

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We address the problem of improving mobility of rovers with rocker-bogie suspension. Friction and torque requirements for climbing a single step were considered as performance parameters. The main contribution of the paper is an improved formulation for rover optimization using smooth functions, which enables use of powerful gradient based nonlinear programming (NLP) solvers for finding solutions. Our formulation does not have certain shortcomings present in some earlier formulations. We first formulate the problem of determining optimal torques to be applied to the wheels to minimize (a) friction requirement, and (b) torque requirement, and obtain demonstrably optimal solutions. We then formulate the problem of optimal design of the rover itself. Our solution for climbing a step of height two times the wheel radius is 13% better than that of the nominal rover. This solution is verified to be a local minimum by checking Karush–Kuhn–Tucker conditions. Optimal solutions were obtained for both forward and backward climbing. We show that some earlier formulations cannot obtain optimal solutions in certain situations. We also obtained optimal design for climbing steps of three different heights, with a friction requirement which is 15% lower than that of the nominal rover.

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Section: Minimizing Friction Required For Climbingmentioning

confidence: 99%

An improved formulation for optimizing rocker-bogie suspension rover for climbing steps

Noble

Issac

2019

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…The most common approach to tackling rough terrains is the utilization of a control model. Paper [3] considers the dynamics of the robot in a 2D plane. It considers different contact angles at each wheel to calculate the ideal torque requirement of each wheel.…”

Section: International Journal Of Engineering Research and Technology (mentioning

confidence: 99%

Mechanims for Preventing Traction Loss in Mobile Robots Operating on Sparingly Flat Surfaces

Nemlekar¹,

Patil²

2017

IJERT

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Wheeled robots that traverse across flat surfaces encounter a loss of traction due to irregularities in the surface plane. This causes the robot to deviate from its path, thus requiring constant adjustment in its direction and speed. Existing solutions for this problem involve complex and bulky suspension systems that affect the robot mobility and increase power consumption. This paper presents a compact and efficient mechanism that helps to prevent the loss of traction in mobile robots.

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“…In the research field of micro-low-gravity simulation tests of planetary vehicles, researchers from the United States, Russian Federation, and China have made many attempts and explorations. The low-gravity experimental system of NASA (National Aeronautics and Space Administration) manned planetary vehicles is an active system [ 5 , 6 ]. A mechanism similar to the crown block is used to realize the following movement in a large range, and the two-dimensional servo platform is used to realize the accurate following movement in a small range.…”

Section: Introductionmentioning

confidence: 99%

Theoretical and Experimental Investigations on High-Precision Micro-Low-Gravity Simulation Technology for Lunar Mobile Vehicle

Hou

Hao²,

Wang³

et al. 2023

Sensors

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With the development of space technology, the functions of lunar vehicles are constantly enriched, and the structure is constantly complicated, which puts forward more stringent requirements for its ground micro-low-gravity simulation test technology. This paper puts forward a high-precision and high-dynamic landing buffer test method based on the principle of magnetic quasi-zero stiffness. Firstly, the micro-low-gravity simulation system for the lunar vehicle was designed. The dynamic model of the system and a position control method based on fuzzy PID parameter tuning were established. Then, the dynamic characteristics of the system were analyzed through joint simulation. At last, a prototype of the lunar vehicle’s vertical constant force support system was built, and a micro-low-gravity landing buffer test was carried out. The results show that the simulation results were in good agreement with the test results. The sensitivity of the system was better than 0.1%, and the constant force deviation was 0.1% under landing impact conditions. The new method and idea are put forward to improve the micro-low-gravity simulation technology of lunar vehicles.

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A rough terrain traction control technique for all-wheel-drive mobile robots

Abstract: Traction control is a critical aspect of mobile robots that need to traverse rough terrain

Cited by 11 publications

References 14 publications

An improved formulation for optimizing rocker-bogie suspension rover for climbing steps

An improved formulation for optimizing rocker-bogie suspension rover for climbing steps

Mechanims for Preventing Traction Loss in Mobile Robots Operating on Sparingly Flat Surfaces

Theoretical and Experimental Investigations on High-Precision Micro-Low-Gravity Simulation Technology for Lunar Mobile Vehicle

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