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Relating torque and slip in an odometric model for an autonomous agricultural vehicle

Abstract:

This paper describes a method of considering the slip that is experienced by the wheels of an agricultural autonomous guided vehicle such that the accuracy of dead-reckoning navigation may be improved. Traction models for off-road locomotion are reviewed. Using experimental data from an agricultural AGV, a simplified form suitable for vehicle navigation is derived. This simplified model relates measurements of the torques applied to the wheels with wheel slip, and is used as the basis of an o...

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Publisher copy:
10.1023/A:1015682206018
Journal:
Autonomous Robots More from this journal
Volume:
13
Issue:
1
Pages:
73-86
Publication date:
2002-07-01
DOI:
ISSN:
0929-5593
Language:
English
Keywords:
Pubs id:
pubs:324763
UUID:
uuid:d0fb6941-2149-4a52-b3fc-8fbfc213835e
Local pid:
pubs:324763
Source identifiers:
324763
Deposit date:
2013-11-17

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