—The wheel slip ratio is an important state variable in terramechanics research and the control of planetary rovers. Definitions of the slip ratio for a wheel with lugs and metho...
— Vision-based control of wheeled vehicles is a difficult problem due to nonholonomic constraints on velocities. This is further complicated in the control of vehicles with drif...
— Energy of Wheeled Mobile Robot (WMR) is usually supplied by batteries with finite energy. In order to extend run-time of battery-powered WMR, it is necessary to minimize the e...
Abstract— This paper deals with constant disturbances rejection in limit cycle tracking for an underactuated mechanical system. The feedback controler presented in [1] is enhance...
Abstract - This paper presents a method for wheel-ground contact angle measurement and a traction control strategy minimizing slip in rough terrain. The slip minimization algorithm...