Quote:
Originally Posted by Abwehr
3b. Even in a 4WD robot with 4 independently-powered wheels with encoders, you can detect (some kinds of) slip without the need for additional sensors. You know where on your robot the wheels are mounted. You can measure the speeds of all four wheels. If you examine the speeds of three wheels at a time, you can compute what the speed of the fourth you HAVE to be in order for there to be no slippage. You can do this for all 4 combinations of three wheels and deduce which wheel(s) are lying to you. If all four (or even three, and sometimes two) wheels are slipping, you're still out of luck, but if one wheel loses traction before the others, you will know.
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So far this is pretty much exactly what we are doing, but we have a couple other methods too, like an E-Brake that senses the direction of the angle that you are drifting at and when enabled (a joystick button) turns our wheels perpendicular to the drift angle. You wouldn't have much control during the braking but it might help some. We will post our results when available.