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http://dx.doi.org/10.7746/jkros.2018.13.3.174

Design of Lateral Force Estimation Model for Rough Terrain Mobile Robot and Improving Estimation Reliability on Friction Coefficient  

Kim, Jiyong (Mechatronics Engineering, Chungnam National University)
Lee, Jihong (Mechatronics Engineering, Chungnam National University)
Joo, Sang Hyun (Agency for Defence Develpment)
Publication Information
The Journal of Korea Robotics Society / v.13, no.3, 2018 , pp. 174-181 More about this Journal
Abstract
For a mobile robot that travels along a terrain consisting of various geology, information on tire force and friction coefficient between ground and wheel is an important factor. In order to estimate the lateral force between ground and wheel, a lot of information about the model and the surrounding environment of the vehicle is required in conventional method. Therefore, in this paper, we are going to estimate lateral force through simple model (Minimal Argument Lateral Slip Curve, MALSC) using only minimum data with high estimation accuracy and to improve estimation reliability of the friction coefficient by using the estimated lateral force data. Simulation is carried out to analyze the correlation between the longitudinal and transverse friction coefficients and slip angles to design the simplified lateral force estimation model by analysing simulation data and to apply it to the actual field environment. In order to verify the validity of the equation, estimation results are compared with the conventional method through simulation. Also, the results of the lateral force and friction coefficient estimation are compared from both the conventional method and the proposed model through the actual robot running experiments.
Keywords
Rough Terrain; Soil; Mobile Robot; Lateral Force; Friction Model; Pacejka Model; Friction Coefficient;
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Times Cited By KSCI : 1  (Citation Analysis)
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