A novel frictional force control of a wheeled robot

Abstract

This paper considers one of the most widespread problems in mobile robotics called the natural environmental constraint evolution of terrestrial mobile robots problems. The lands with severe slopes are among the unreachable areas by mobile robots. To overcome this critical problem, a particular architecture is proposed to help wheeled robots to maintain steady movement on acute slopes. The principle of this strategy is to act on the friction force that can compensate the tangential component of the weight that prevents the robot to be able to move in these severe lands. Therefore, a reduced model of the used motor is defined and introduced in the control loop of the friction force to reach adequate performances. Finally, real time experiments are accomplished to valid simulation results.