Traction Control for a Rocker-Bogie Robot with Wheel-Ground Contact Angle Estimation

  • Mongkol Thianwiboon
  • Viboon Sangveraphunsiri
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4020)

Abstract

A method for kinematics modeling of a six-wheel Rocker-Bogie mobile robot is described in detail. The forward kinematics is derived by using wheel Jacobian matrices in conjunction with wheel-ground contact angle estimation. The inverse kinematics is to obtain the wheel velocities and steering angles from the desired forward velocity and turning rate of the robot. Traction Control is also developed to improve traction by comparing information from onboard sensors and wheel velocities to minimize wheel slip. Finally, a simulation of a small robot using rocker-bogie suspension has been performed and simulate in two conditions of surfaces including climbing slope and travel over a ditch.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Mongkol Thianwiboon
    • 1
  • Viboon Sangveraphunsiri
    • 1
  1. 1.Robotics and Automation Laboratory, Department of Mechanical Engineering, Faculty of EngineeringChulalongkorn UniversityBangkokThailand

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