In this paper, the effects of wheel slip compensation in trajectory planning for mobile tractor-trailer robot applications are investigated. Firstly, a kinematic model of the proposed robot architecture is marked out, then an experimental campaign is done to identify if it is possible to kinematically compensate trajectories that otherwise would be subject to large lateral slip. Due to the close connection to the experimental data, the results shown are valid only for Epi.q, the prototype that is the main object of this manuscript. Nonetheless, the base concept can be usefully applied to any mobile robot subject to large lateral slip.
An estimator for the kinematic behaviour of a mobile robot subject to large lateral slip / Botta, A.; Cavallone, P.; Tagliavini, L.; Carbonari, L.; Visconte, C.; Quaglia, G.. - In: APPLIED SCIENCES. - ISSN 2076-3417. - 11:4(2021), pp. 1-10. [10.3390/app11041594]
An estimator for the kinematic behaviour of a mobile robot subject to large lateral slip
Carbonari L.;
2021-01-01
Abstract
In this paper, the effects of wheel slip compensation in trajectory planning for mobile tractor-trailer robot applications are investigated. Firstly, a kinematic model of the proposed robot architecture is marked out, then an experimental campaign is done to identify if it is possible to kinematically compensate trajectories that otherwise would be subject to large lateral slip. Due to the close connection to the experimental data, the results shown are valid only for Epi.q, the prototype that is the main object of this manuscript. Nonetheless, the base concept can be usefully applied to any mobile robot subject to large lateral slip.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
