A system that enables continuous slip compensation for a Mars rover has been designed, implemented, and field-tested. This system is composed of several components that allow the rover to accurately and continuously follow a designated path, compensate for slippage, and reach intended goals in high-slip environments. These components include: visual odometry, vehicle kinematics, a Kalman filter...

Tire-road friction is estimated using the wheel-slip computed from standard sensor signals. A parametric model is estimated using an adaptive lter supported by a fault detector. Results from extensive eld trials are presented. An approach to estimate the tire{road friction during normal drive using only the wheel slip, that is, the relative diierence in wheel velocities, is presented. The drive...

For multi-axle distributed drive (MADD) vehicles, the complexity of longitudinal dynamics control system increases with number driven wheels, which presents a huge challenge to multi-motor vehicle more than four wheels. To reduce complexity, this paper proposes coordinated slip algorithm using hierarchical linear quadratic regulator (HLQR) scheme for 12 × MADD vehicle. The 12-wheel driving is d...

This article proposes a novel longitudinal vehicle speed estimator for snowy roads in extreme conditions (four-wheel slip) based on low-cost wheel encoders and acceleration sensor. The tire rotation factor, η, is introduced to reduce the deviation between radius manufacturer’s marked radius. Local Vehicle Speed Estimator defined eliminate estimation error. It improves slip accuracy of four-whee...

This paper investigates kinetic behavior of a planetary rover with attention to tire-soil traction mechanics and articulated body dynamics, and thereby study the control when the rover travels over natural rough terrain. Experiments are carried out with a rover test bed to observe the physical phenomena of soils and to model the traction mechanics, using the tire slip ratio as a state variable....

Anti-slip control, as a fundamental technique of vehicle stability prevents loss control vehicles, especially under extreme driving conditions. However, current methods fail to suppress slippage when steering. Therefore, new anti-slip approach for four-wheel independent-drive electric vehicles (EVs) based on the energy method is proposed. This makes full use distribution motor between body and ...

This paper presents the movement dynamic of the train and the relationship between the speed of wheel and train, as well as a discussion about the concept of wheel slip. There are two different operation regions designated as creep and wheelspin areas for wheel slip. Creep and wheelspin areas have stable and unstable characteristics, respectively. Wheels and rails are constructed from iron, and...

In this study, the vehicle's dynamic behavior during braking and steering input is investigated by considering quarter-car model. The case study for research a Sport-Utility Vehicle (SUV) with anti-lock system (ABS) nonlinear equations are considered it along Pacejka tire Regulating wheel slip ratio in optimal value different conditions of road surface (dry, wet icy) as ABS control strategy. or...

This paper presents a new control algorithm that prevents electrical vehicle from wheel skidding in presence of uncertainties of tire-road condition. An estimator of the maximum effective torque is realized by wheel velocity and input torque, which is based on a pure kinematic relationship between the wheel and the chassis. In order to enhance the stability of the control system and handing per...