A Novel Adhesion Stability Detection Methodology and Slip Prevention Control Strategies for Wheeled Ground Vehicles
文献类型：会议论文
| 作者 | Kun Xu; Guoqing Xu; Chunhua Zheng; Taimoor Zahid; Chao Hu |
| 出版日期 | 2014 |
| 会议名称 | Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on |
| 会议地点 | 中国 |
| 英文摘要 | Ensuring the motion stability and improving the mobility are crucial for wheeled ground vehicles (WGVs) to complete their missions, e.g., outdoor inspections and explorations. However, wheel slip may deteriorate the mobility performance and safety, particularly on unknown low-adhesive ground. In this research, a novel methodology to detect the adhesion stability using a force transmitting factor is proposed. The admissible maximum adhesion force (AMAF) and the optimal slip rate are determined via dynamically capturing the critical point from stable to unstable regions, based on which two controllers in prevention of wheel slip are proposed accordingly. In comparison to the existing methods, the novel detection only requires the measurements of wheel speed and wheel drive force. Additionally, it is adaptive to various uncertain wheel-ground conditions. Numerical simulation and experimental results indicate the effectiveness of the proposed methodology in adhesion stability detection, and maintaining the stability on uncertain slippery ground. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/5539]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2014 |
| 推荐引用方式 GB/T 7714 | Kun Xu,Guoqing Xu,Chunhua Zheng,et al. A Novel Adhesion Stability Detection Methodology and Slip Prevention Control Strategies for Wheeled Ground Vehicles[C]. 见:Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on. 中国. |
入库方式： OAI收割
来源：深圳先进技术研究院
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