NDLI: Estimating Traction Coefficients of Friction for Small-Scale Robotic Tracked Vehicles

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Tehmoor, M. Dar Raul, G. Longoria
Copyright Year	2010
Abstract	A method is presented for using an extended Kalman filter with state noise compensation to estimate the trajectory, orientation, and coefficients of friction for a small-scale robotic tracked vehicle. The ultimate goal of the method is to enable terrain property estimation particularly during laboratory and field-testing utilizing onboard sensor data and/or other sources. A methodology is described that relies on kinematic and dynamic models for skid-steering, as well as tractive force models parameterized by key soil parameters. Favorable results for estimating coefficients of friction are presented based on experimental data collected for laboratory and field testing with an iRobot® PackBot™. Preliminary results confirm the dependence of coefficients of friction on vehicle trajectory turning radius and velocity.
Sponsorship	Dynamic Systems and Control Division
Starting Page	157
Ending Page	164
Page Count	8
File Format	PDF
ISBN	9780791844182
DOI	10.1115/DSCC2010-4228
e-ISBN	9780791838846
Volume Number	ASME 2010 Dynamic Systems and Control Conference, Volume 2
Conference Proceedings	ASME 2010 Dynamic Systems and Control Conference
Language	English
Publisher Date	2010-09-12
Publisher Place	Cambridge, Massachusetts, USA
Access Restriction	Subscribed
Subject Keyword	Traction Robotics Turning angles Vehicles Noise (sound) Tracked vehicles Friction Kinematics Trajectories (physics) Soil Dynamic models Sensors Kalman filters Testing
Content Type	Text
Resource Type	Article

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