An optimal traction control scheme for off-road operation of robotic vehicles

Waldron, KJ; Abdallah, ME

An optimal traction control scheme for off-road operation of robotic vehicles

Waldron, KJ

Abdallah, ME

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Publication Type:: Journal Article
Citation:: IEEE/ASME Transactions on Mechatronics, 2007, 12 (2), pp. 126 - 133
Issue Date:: 2007-04-01

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Field	Value	Language
dc.contributor.author	Waldron, KJ https://orcid.org/0000-0002-7910-4907	en_US
dc.contributor.author	Abdallah, ME	en_US
dc.date.issued	2007-04-01	en_US
dc.identifier.citation	IEEE/ASME Transactions on Mechatronics, 2007, 12 (2), pp. 126 - 133	en_US
dc.identifier.issn	1083-4435	en_US
dc.identifier.uri	http://hdl.handle.net/10453/5816
dc.description.abstract	Active degrees of freedom provide a robotic vehicle the ability to enhance its performance in all terrain conditions. While active suspension systems are now commonplace in on-road vehicles, their application to off-road terrains has been little investigated. A fundamental component of such an application is a need to translate desired body motion commands into actuator values through the use of proprioceptive algorithms. The diverse nature of the terrains that might be encountered places variable demands upon the operation of the vehicle. This entails the potential use of a diverse set of algorithms designed to optimize mobility and performance. This paper presents a cohesive control scheme designed for the operation of an autonomous vehicle under all conditions. The ideas presented have been tested in simulation, and some have been used extensivly in the field. © 2007 IEEE.	en_US
dc.relation.ispartof	IEEE/ASME Transactions on Mechatronics	en_US
dc.relation.isbasedon	10.1109/TMECH.2007.892819	en_US
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	An optimal traction control scheme for off-road operation of robotic vehicles	en_US
dc.type	Journal Article
utslib.citation.volume	2	en_US
utslib.citation.volume	12	en_US
utslib.for	0913 Mechanical Engineering	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
utslib.for	0910 Manufacturing Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
utslib.copyright.status	closed_access
pubs.issue	2	en_US
pubs.publication-status	Published	en_US
pubs.volume	12	en_US

Abstract:

Active degrees of freedom provide a robotic vehicle the ability to enhance its performance in all terrain conditions. While active suspension systems are now commonplace in on-road vehicles, their application to off-road terrains has been little investigated. A fundamental component of such an application is a need to translate desired body motion commands into actuator values through the use of proprioceptive algorithms. The diverse nature of the terrains that might be encountered places variable demands upon the operation of the vehicle. This entails the potential use of a diverse set of algorithms designed to optimize mobility and performance. This paper presents a cohesive control scheme designed for the operation of an autonomous vehicle under all conditions. The ideas presented have been tested in simulation, and some have been used extensivly in the field. © 2007 IEEE.

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http://hdl.handle.net/10453/5816