Abstract
SUMMARYWe proposed a new method of mobile robot motion synthesis. A dynamical model describing the slip phenomenon taking into account the wheel–ground interaction was derived. The novelty of this work stems from the assumption that the slip already exists and the wheel motion pattern must reduce it, not exceeding the acceleration and torque limits. Moreover, a slip estimation method is proposed by introducing a critical friction coefficient. The theoretical considerations are confirmed by simulation and experiment. This research was performed in the framework of the PROTEUS project aiming at the development of autonomous robots for inspection and exploration. These robots will move in natural terrain.
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
