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Mobile robots are used to venture through types of environments, at low wheel speeds, where wheel slip is a threat. We present a unique traction estimation algorithm for low speed applications that estimates traction loss by measuring the wheel slip velocity. We also propose a modified Kalman Filter that fuses a system model of a DC motor with an estimate of the disturbances acting on the system model...
This paper introduces a model-based approach to estimating longitudinal wheel slip and detecting immobilized conditions of autonomous mobile robots operating on outdoor terrain. A novel tire traction/braking model is presented and used to calculate vehicle dynamic forces in an extended Kalman filter framework. Estimates of external forces and robot velocity are derived using measurements from wheel...
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