Traction Control for Two-Wheel Driven Mobile Robot Driving on Ice

In this paper, a traction control for two-wheel driven mobile robot driving on the ice is proposed. The traction control requirements for a special task on the ice is derived from driving scenario of the mobile robot. The important driving requirement of the robot is to satisfy the target velocity within a limited available distance. To realize the special velocity of the robot on the ice, longitudinal velocity control is adopted, and Model Following Control method is adopted to prevent slip on the ice. Effectiveness of the traction control algorithms are verified through several experimental results.