An Optimal Traction Control Scheme for Off-Road Operation of Robotic Vehicles

摘要

Active degrees of freedom provide a robotic vehicle the ability to enhance its performance in all terrain conditions. While active suspension systems are now commonplace in on-road vehicles, their application to off-road terrains has been little investigated. A fundamental component of such an application is a need to translate desired body motion commands into actuator values through the use of proprioceptive algorithms. The diverse nature of the terrains that might be encountered places variable demands upon the operation of the vehicle. This entails the potential use of a diverse set of algorithms designed to optimize mobility and performance. This paper presents a cohesive control scheme designed for the operation of an autonomous vehicle under all conditions. The ideas presented have been tested in simulation, and some have been used extensivly in the field.