Abstract
Ground traction is very important for balancing of two-wheeled robots. This paper examines whether limiting wheel slip to a nominal optimal value, as in conventional traction control, improves the performance of two-wheeled robots on low traction surfaces. For a particular robot and simulation conditions, comparing the baseline linear state feedback controller of the two-wheeled robot with and without traction control shows that conventional traction control is ineffective when stopping abruptly from a constant speed.
Traction control on a baseline controller decreases the maximum stable stopping speed on an ice-like surface. Compensating torque induced by traction control only partially recovers performance. On a hypothetical wet or lubricated surface with exaggerated Stribeck effect, traction control only slightly improves performance. Therefore traction control distinct from the balance and velocity LQR controller is ineffective, normally degrades overall performance, and motivates research for an alternative controller.
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Chan, R.P.M., Stol, K.A., Halkyard, C.R. (2012). Effect of Limiting Wheel Slip on Two-Wheeled Robots in Low Traction Environments. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7507. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33515-0_42
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DOI: https://doi.org/10.1007/978-3-642-33515-0_42
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