Acceleration-based independent traction control for mobile robot

This paper proposes a traction control algorithm which can be independently implemented to each wheel without extra sensors and devices compared with standard speed control. The algorithm estimates stick-slip of wheels based on estimation of angular acceleration so that the traction force induced by torque of wheel converses between maximum static friction and kinetic friction. Simulations are performed to verify the validity of the algorithm. The proposed traction control algorithm obtained 40.5% reduction of total slip distance and 48.4% reduction of dissipated work on the contact point compared with standard speed control. Furthermore, the algorithm does not require complex wheel-soil interaction model and optimization of robot kinematics.