Full Content is available to subscribers

Subscribe/Learn More  >

Estimating Traction Coefficients of Friction for Small-Scale Robotic Tracked Vehicles

[+] Author Affiliations
Tehmoor M. Dar, Raul G. Longoria

University of Texas at Austin, Austin, TX

Paper No. DSCC2010-4228, pp. 157-164; 8 pages
  • ASME 2010 Dynamic Systems and Control Conference
  • ASME 2010 Dynamic Systems and Control Conference, Volume 2
  • Cambridge, Massachusetts, USA, September 12–15, 2010
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4418-2 | eISBN: 978-0-7918-3884-6
  • Copyright © 2010 by ASME


A method is presented for using an extended Kalman filter with state noise compensation to estimate the trajectory, orientation, and coefficients of friction for a small-scale robotic tracked vehicle. The ultimate goal of the method is to enable terrain property estimation particularly during laboratory and field-testing utilizing onboard sensor data and/or other sources. A methodology is described that relies on kinematic and dynamic models for skid-steering, as well as tractive force models parameterized by key soil parameters. Favorable results for estimating coefficients of friction are presented based on experimental data collected for laboratory and field testing with an iRobot® PackBot™. Preliminary results confirm the dependence of coefficients of friction on vehicle trajectory turning radius and velocity.

Copyright © 2010 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In