@inproceedings{c9ba90c26f0c4b18a7716cbaaec379d3,
title = "Traction control on loose soil for a redundantly actuated mobile robot",
abstract = "In this paper, a novel traction control scheme for a mobile robot with six independent driven wheels on loose soil is presented. First, a robust model-based slide mode controller is designed to estimate the traction force F x , F y and steering moment M z for executing a desired motion of the robot body. Because of actuation redundancy, the degree of freedom of task space is lower than the number of wheel drive variables, the paper uses an improved pseudo-inverse matrix to compute the tractive forces of the redundant drive wheels. In view of each wheel's slip behavior on loose soil, a slip compensation term is developed to correct the output of slide mode controller. The simulations show clearly the advantage of the traction control versus traditional kinematic control.",
keywords = "Force distribution, Traction control, Wheeled mobile robot",
author = "Zhenwu Lei and Pingyuan Cui and Hehua Ju and Xingwen Peng",
year = "2008",
doi = "10.1007/978-3-540-88513-9\_123",
language = "English",
isbn = "3540885129",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
number = "PART 1",
pages = "1155--1164",
booktitle = "Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings",
address = "Germany",
edition = "PART 1",
note = "1st International Conference on Intelligent Robotics and Applications, ICIRA 2008 ; Conference date: 15-10-2008 Through 17-10-2008",
}