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Experimental results on a traction control algorithm for mobile robots in volcano environment

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3 Author(s)
D. Caltabiano ; Dip. di Ingegneria Electtrica Elettronica e dei Sistemi, Univ. degli Studi di Catania, Italy ; D. Ciancitto ; G. Muscato

In this paper a traction control algorithm for mobile robots in outdoor environment is presented. The algorithm using a wheel slip estimator optimizes the traction in sandy terrains like those found near some volcanic vents. Some comparative tests with a PI control using a simulator show the adherence improvements. In order to analyze the algorithm efficiency in real conditions, several comparative tests have been executed on the P6W robot: a small robot with six independently actuated wheels.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:5 )

Date of Conference:

26 April-1 May 2004