Coordinated Control of Slip Ratio for Wheeled Mobile Robots Climbing Loose Sloped Terrain

A challenging problem faced by wheeled mobile robots (WMRs) such as planetary rovers traversing loose sloped terrain is the inevitable longitudinal slip suffered by the wheels, which often leads to their deviation from the predetermined trajectory, reduced drive efficiency, and possible failures. Th...

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Main Authors: Zhengcai Li, Yang Wang
Format: Article
Language:English
Published: Wiley 2014-01-01
Series:The Scientific World Journal
Online Access:http://dx.doi.org/10.1155/2014/396382
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author Zhengcai Li
Yang Wang
author_facet Zhengcai Li
Yang Wang
author_sort Zhengcai Li
collection DOAJ
description A challenging problem faced by wheeled mobile robots (WMRs) such as planetary rovers traversing loose sloped terrain is the inevitable longitudinal slip suffered by the wheels, which often leads to their deviation from the predetermined trajectory, reduced drive efficiency, and possible failures. This study investigates this problem using terramechanics analysis of the wheel-soil interaction. First, a slope-based wheel-soil interaction terramechanics model is built, and an online slip coordinated algorithm is designed based on the goal of optimal drive efficiency. An equation of state is established using the coordinated slip as the desired input and the actual slip as a state variable. To improve the robustness and adaptability of the control system, an adaptive neural network is designed. Analytical results and those of a simulation using Vortex demonstrate the significantly improved mobile performance of the WMR using the proposed control system.
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institution Kabale University
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publishDate 2014-01-01
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record_format Article
series The Scientific World Journal
spelling doaj-art-d6d20d644f674fb19273ed950b77abc12025-02-03T06:04:56ZengWileyThe Scientific World Journal2356-61401537-744X2014-01-01201410.1155/2014/396382396382Coordinated Control of Slip Ratio for Wheeled Mobile Robots Climbing Loose Sloped TerrainZhengcai Li0Yang Wang1School of Mechanical Instrumental Engineering, Harbin Institute of Technology, Harbin 150001, ChinaSchool of Mechanical Instrumental Engineering, Harbin Institute of Technology, Harbin 150001, ChinaA challenging problem faced by wheeled mobile robots (WMRs) such as planetary rovers traversing loose sloped terrain is the inevitable longitudinal slip suffered by the wheels, which often leads to their deviation from the predetermined trajectory, reduced drive efficiency, and possible failures. This study investigates this problem using terramechanics analysis of the wheel-soil interaction. First, a slope-based wheel-soil interaction terramechanics model is built, and an online slip coordinated algorithm is designed based on the goal of optimal drive efficiency. An equation of state is established using the coordinated slip as the desired input and the actual slip as a state variable. To improve the robustness and adaptability of the control system, an adaptive neural network is designed. Analytical results and those of a simulation using Vortex demonstrate the significantly improved mobile performance of the WMR using the proposed control system.http://dx.doi.org/10.1155/2014/396382
spellingShingle Zhengcai Li
Yang Wang
Coordinated Control of Slip Ratio for Wheeled Mobile Robots Climbing Loose Sloped Terrain
The Scientific World Journal
title Coordinated Control of Slip Ratio for Wheeled Mobile Robots Climbing Loose Sloped Terrain
title_full Coordinated Control of Slip Ratio for Wheeled Mobile Robots Climbing Loose Sloped Terrain
title_fullStr Coordinated Control of Slip Ratio for Wheeled Mobile Robots Climbing Loose Sloped Terrain
title_full_unstemmed Coordinated Control of Slip Ratio for Wheeled Mobile Robots Climbing Loose Sloped Terrain
title_short Coordinated Control of Slip Ratio for Wheeled Mobile Robots Climbing Loose Sloped Terrain
title_sort coordinated control of slip ratio for wheeled mobile robots climbing loose sloped terrain
url http://dx.doi.org/10.1155/2014/396382
work_keys_str_mv AT zhengcaili coordinatedcontrolofslipratioforwheeledmobilerobotsclimbinglooseslopedterrain
AT yangwang coordinatedcontrolofslipratioforwheeledmobilerobotsclimbinglooseslopedterrain