资源描述：
《wheel torque control in rough terrain-modeling and simulation》由会员上传分享，免费在线阅读，更多相关内容在学术论文-天天文库。
1、WheelTorqueControlinRoughTerrain-ModelingandSimulationPierreLamonandRolandSiegwartAutonomousSystemsLabEcolePolytechniqueFédéraledeLausanne(EPFL)pierre.lamon@epfl.ch,roland.siegwart@epfl.chAbstract-Thispaperpresentsamethodforwheel-groundcon-elsareconside
2、redtobeknown.Inpractice,themodelpa-tactanglemeasurementandatractioncontrolstrategymini-rametersaregenerallydifficulttoestimateandarevalidmizingslipinroughterrain.Theslipminimizationalgorithmonlyforaspecifictypeofsoilandcondition.[4]proposesahasbeenteste
3、dandcomparedwithastandardspeedcontrolinmethodforestimatingthesoilparametersastherobotsimulation,whichallowstoverifythevalidityoftheassump-moves,butitislimitedtoarigidwheeltravelingthroughationstakenduringthemodelingphase.Thesimulationsshowdeformableterr
4、ain.Inpractice,thesemodelsaredifficulttoclearlytheadvantageoftorquecontrolversusspeedcontrol.usebecausetheroverwheelsaresubjecttorollondifferentFurthermore,theproposedmethodhastheadvantagetoavoidrelyingoncomplexwheel-soilinteractionmodels,whosepa-kindso
5、fterrain,whoseparameterscanchangequickly.rametersaregenerallyunknowninchallengingterrains.Anotherkeyvariablefortractionoptimizationalgorithmsisthecontactanglesbetweenthewheelsandtheground.Keywords-tractioncontrol,roughterrain,slipminimizationTheseangles
6、canbeestimatedusingindirectmethodssuchI.INTRODUCTIONaspresentedin[5]and[6].Theyarebasedonwheelencod-Forwheeledroughterrainrovers,themotionoptimizationers,inclinometerandjointanglesensors.Theaccuracyofissomewhatrelatedtominimizingslip.Minimizingwheelthee
7、stimationstronglydependsonwheelslipandterrainslipnotonlylimitsodometricerrorbutalsoincreasesthero-profile.Inparticular,noestimationcanbecomputedwhenbot'sclimbingperformance.Inordertofulfillthisgoal,sev-theroverisstillandpoorresultsareobtainedinslowlyera
8、lmethodshavebeendeveloped.changingterrainprofiles.Furthermore,suchmethodssufferfromthechickenandeggparadoxe.Badwheel-groundcon-MethodsderivedfromthewellknownAnti-lockBrakingtactangleestimationsleadtounadaptedmotorcommands,System(
