Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Real-Time Prediction of Optimal Control Parameters for Mobile Robots based on Estimated Strength of Ground Surface

노면의 강도 추정을 통한 자율 주행 로봇의 실시간 최적 주행 파라미터 예측

  • Kim, Jayoung (Dep. of Mechatronics Engineering, Chungnam National University) ;
  • Lee, Jihong (Dep. of Mechatronics Engineering, Chungnam National University)
  • 김자영 (충남대학교 메카트로닉스 공학과) ;
  • 이지홍 (충남대학교 메카트로닉스 공학과)
  • Received : 2013.05.21
  • Accepted : 2013.10.18
  • Published : 2014.01.01
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Abstract

This paper proposes a method for predicting maximum friction coefficients and optimal slip ratios as optimal control parameters for traction control or slip control of autonomous mobile robots on rough terrain. This paper focuses on strength of ground surface which indicates different characteristics depending on material types on surface. Strength of various material types can be estimated by Willoughby sinkage model and by a developed testbed which can measure forces, velocities, and displacements generated by wheel-terrain interaction. Estimated strength is collaborated on building improved Brixius model with friction-slip data from experiments with the testbed over sand and grass material. Improved Brixius model covers widespread material types in outdoor environments on predicting friction-slip characteristics depending on strength of ground surface. Thus, a prediction model for obtaining optimal control parameters is derived by partial differentiation of the improved Brixius model with respect to slip. This prediction model can be applied to autonomous mobile robots and finally gives secure maneuverability on rough terrain. Proposed method is verified by various experiments under similar conditions with the ones for real outdoor robots.

Keywords

References

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