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

摘要

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.