Slip Detection and Compensation System for Mobile Robot in Heterogeneous Environment

Slip Detection and Compensation System for Mobile Robot in Heterogeneous Environment

Bibliographic Details
Parent link:	IFAC-PapersOnLine Vol. 51, iss. 13 : 20th IFAC Conference on Technology, Culture, and International Stability TECIS 2021, Moscow, Russian Federation, 14–17 September 2021.— 2021.— [P. 339-344]
Main Author:	Brylev O. A. Oleg Alexandrovich
Corporate Author:	Национальный исследовательский Томский политехнический университет Инженерная школа информационных технологий и робототехники Отделение автоматизации и робототехники (ОАР)
Other Authors:	Ivanov E. A. Egor Andreevich, Belyaev A. S. Aleksandr Sergeevich
Summary:	Title screen Research of the robot’s motor currents during the motion across highly heterogeneous surface is considered in the paper. Dependencies between motor current and slip coefficient were obtained. The indirect variable, characterizing the wheels’ torque, was introduced. The motion vector compensation system was implemented. The motion compensation vector is determined through the indirect torque characterizing variables. The robot’s trajectory of motion with the implemented correction are presented. Obtained trajectories proved qualitative dependencies of the implemented system. Режим доступа: по договору с организацией-держателем ресурса
Published:	2021
Subjects:	электронный ресурс труды учёных ТПУ mobile robot control system terrain slip detection different environments мобильные роботы системы управления местность среды
Online Access:	https://doi.org/10.1016/j.ifacol.2021.10.470
Format:	Electronic Book Chapter
KOHA link:	https://koha.lib.tpu.ru/cgi-bin/koha/opac-detail.pl?biblionumber=667930

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