Abstract
In this paper, a traction control for two-wheel driven mobile robot driving on the ice is proposed. The traction control requirements for a special task on the ice is derived from driving scenario of the mobile robot. The important driving requirement of the robot is to satisfy the target velocity within a limited available distance. To realize the special velocity of the robot on the ice, longitudinal velocity control is adopted, and Model Following Control method is adopted to prevent slip on the ice. Effectiveness of the traction control algorithms are verified through several experimental results.
| Original language | English |
|---|---|
| Title of host publication | Proceedings - 2018 IEEE 27th International Symposium on Industrial Electronics, ISIE 2018 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 1075-1080 |
| Number of pages | 6 |
| ISBN (Print) | 9781538637050 |
| DOIs | |
| State | Published - 10 Aug 2018 |
| Event | 27th IEEE International Symposium on Industrial Electronics, ISIE 2018 - Cairns, Australia Duration: 13 Jun 2018 → 15 Jun 2018 |
Publication series
| Name | IEEE International Symposium on Industrial Electronics |
|---|---|
| Volume | 2018-June |
Conference
| Conference | 27th IEEE International Symposium on Industrial Electronics, ISIE 2018 |
|---|---|
| Country/Territory | Australia |
| City | Cairns |
| Period | 13/06/18 → 15/06/18 |
Bibliographical note
Publisher Copyright:© 2018 IEEE.
Keywords
- Model Following Control(MFC)
- Two-wheel driven mobile robot
- longitudinal control
- traction control