A comparison between different traction control methods for a field robot
D Caltabiano, G Muscato - IEEE/RSJ International Conference …, 2002 - ieeexplore.ieee.org
D Caltabiano, G Muscato
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002•ieeexplore.ieee.orgA control strategy for a two wheels planar robot that distributes the motor torques to optimize
the traction is presented. A comparison between this strategy and PI control is described
using the tests results obtained through a dynamic simulator. This work also shows how the
proposed control strategy improves the traction in most situations with respect to a simple PI
control, but when the adherence is lost the PI control is more reliable. Finally, this work
examines the problems of this strategy and suggests how to solve them.
the traction is presented. A comparison between this strategy and PI control is described
using the tests results obtained through a dynamic simulator. This work also shows how the
proposed control strategy improves the traction in most situations with respect to a simple PI
control, but when the adherence is lost the PI control is more reliable. Finally, this work
examines the problems of this strategy and suggests how to solve them.
A control strategy for a two wheels planar robot that distributes the motor torques to optimize the traction is presented. A comparison between this strategy and PI control is described using the tests results obtained through a dynamic simulator. This work also shows how the proposed control strategy improves the traction in most situations with respect to a simple PI control, but when the adherence is lost the PI control is more reliable. Finally, this work examines the problems of this strategy and suggests how to solve them.
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