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Authors: Jayoung Kim and Jihong Lee

Affiliation: Chungnam National University, Korea, Republic of

ISBN: 978-989-758-040-6

Keyword(s): Optimal Control Parameter, Maximum Traction Coefficient, Optimal Slip Ratio, Tractive Efficiency, Soil Strength, Vehicle Dynamics, State Observer, Soil Identification, Wheeled Robot, Rough Terrain.

Related Ontology Subjects/Areas/Topics: Engineering Applications ; Informatics in Control, Automation and Robotics ; Information-Based Models for Control ; Intelligent Control Systems and Optimization ; Intelligent Transportation Technologies and Systems ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: On rough terrain, there are a variety of soil types having different soil strength. It means that it is needed for outdoor robots to change wheel control strategies since optimal slip and maximum traction levels on wheels differ depending on soil strength. Therefore this paper proposes an algorithm for acquiring optimal control parameters, such as maximum traction coefficient and optimal slip ratio to maximize traction or minimize energy consumption, based on estimating strength of soils. In this paper the optimal models of wheel traction and slip are derived through indoor experiments by a testbed for analysis of wheel-terrain interactions on three types of soil; grass, gravel and sand. For estimating soil strength, actual traction coefficient, including information of motion resistance, is observed by a state estimator related to wheeled robot dynamics. The actual traction coefficient and slip ratio on wheels are employed to estimate soil strength by a numerical method on the basis of derived optimal models. The proposed algorithm was verified through real driving experiments of a wheeled robot on various types of soil. (More)

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Paper citation in several formats:
Kim, J. and Lee, J. (2014). Soil Strength-based Estimation of Optimal Control Parameters for Wheeled Robots on Rough Terrain.In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 65-73. DOI: 10.5220/0005034900650073

@conference{icinco14,
author={Jayoung Kim. and Jihong Lee.},
title={Soil Strength-based Estimation of Optimal Control Parameters for Wheeled Robots on Rough Terrain},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={65-73},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005034900650073},
isbn={978-989-758-040-6},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Soil Strength-based Estimation of Optimal Control Parameters for Wheeled Robots on Rough Terrain
SN - 978-989-758-040-6
AU - Kim, J.
AU - Lee, J.
PY - 2014
SP - 65
EP - 73
DO - 10.5220/0005034900650073

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