Application of load torque observer for ground quality identification in a wheeled mobile robot

The article presents an approach to ground quality identification and construction of a mobile robot enabling ground testing and further work. The article describes the mechanics made together with the microprocessor system. The structure of the regulators implemented on the mobile robot is presented. There is also a description of the load torque observer along with the verification of its operation in the Matlab environment. The results of driving a mobile robot into the sand on an equal height surface are presented and analysed.