A mathematical model for vehicle steering control

Brown, Glen; Hung, J.C.

doi:10.1109/iecon.1994.398131

Cited by 4 publications

(1 citation statement)

References 8 publications

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“…Many works discussing wheel-ground interaction aim at the design of automated braking systems (ABS) for slip avoidance in cars. 1,5,10,14 The basic aim of ABS action is to prevent the slip while changing the speed. Only some publications from this area are devoted to mobile robots.…”

Section: Introductionmentioning

confidence: 99%

Synthesis of control law considering wheel–ground interaction and contact stability of autonomous mobile robot

Zielińska

Chmielniak

2011

Robotica

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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.

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Section: Introductionmentioning

confidence: 99%