Distributed Active Traction Control System Applied to the RoboCup Middle Size League

Article English OPEN
José Almeida; André Dias; Alfredo Martins; João Sequeira; Eduardo Silva;
(2013)
  • Publisher: SAGE Publishing
  • Journal: International Journal of Advanced Robotic Systems (issn: 1729-8814)
  • Related identifiers: doi: 10.5772/56828
  • Subject: Slipping observer | Electronics | Robocup middle size league | Electronic computers. Computer science | Embedded system | Traction control | TK7800-8360 | QA75.5-76.95 | Friction force

This work addresses the problem of traction control in mobile wheeled robots in the particular case of the RoboCup Middle Size League (MSL). The slip control problem is formulated using simple friction models for ISePorto Team robots with a differential wheel ... View more
  • References (27)
    27 references, page 1 of 3

    6.4. Qualitative analysis - Slipping Observer vs. External Vision System

    [1] Lauro Ojeda and Johann Borenstein. Methods for the reduction of odometry errors in over-constrained mobile robots. Autonomous Robots, 16:273-286, 2004. 10.1023/B:AURO.0000025791.45313.01.

    [2] A. Albagul. Dynamic Modelling and Control of a Wheeled Mobile Robot. PhD thesis, University of NewCastle Upon Tyne, 2001.

    [3] G. T. Wilfong. Motion planning for an autonomous vehicle. In Proc. IEEE International Conference on Robotics and Automation, pages 529-533, April 24-29, 1988.

    [4] Z. Shiller and Y.-R. Gwo. Dynamic motion planning of autonomous vehicles. 7(2):241-249, April 1991.

    [5] Karl Iagnemma and Chris C. Ward. Classification-based wheel slip detection and detector fusion for mobile robots on outdoor terrain. Autonomous Robots, 26:33-46, 2009.

    [6] Y. Hori, Y. Toyoda, and Y. Tsuruoka. Traction control of electric vehicle: basic experimental results using the test ev "uot electric march". 34(5):1131-1138, September 1998.

    [7] L. Ojeda, D. Cruz, G. Reina, and J. Borenstein. Current-based slippage detection and odometry correction for mobile robots and planetary rovers. 22(2):366-378, 2006.

    [8] C. Unsal and P. Kachroo. Sliding mode measurement feedback control for antilock braking systems. 7(2):271-281, March 1999.

    [9] Hiroaki Kataoka, Hideo Sado, Ichiro Sakai, and Yoichi Hori. Optimal slip ratio estimator for traction control system of electric vehicle based on fuzzy inference. Electrical Engineering in Japan, 135(3):56 - 63, 2001.

  • Metrics
    0
    views in OpenAIRE
    3
    views in local repository
    1
    downloads in local repository

    The information is available from the following content providers:

    FromNumber Of ViewsNumber Of Downloads
    Repositório Científico do Instituto Politécnico do Porto 3 1
Share - Bookmark