USING SLIPPAGE TO INCREASE MANEUVERABILITY FOR WHEELED MOBILE ROBOTS AT LOW SPEEDS

Date

2023-12-08

Author

Ata, Erdem

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Land vehicles are commonly used in robotics. Most studies consider the types of vehicles that do not slip easily or develop ways to detect and avoid slippage. This is for multiple reasons: it is more difficult to control a vehicle during slippage, especially if the driver is a human; commonly used vehicle types cannot start slippage at low speeds; slippage may damage some tire materials. Other studies that consider slippage as an advantage mostly focus on high speeds. This work proposes using slippage as a maneuverability advantage with a 4WD, 4WS vehicle type at low speeds. Firstly, it is shown that a slipping vehicle can outperform non-slipping vehicles in a trajectory-tracking task using a conventional controller. Then, a reinforcement learning agent is trained to control a 4WD, 4WS vehicle to perform maneuvers and navigate in an environment where it is difficult for a regular vehicle to navigate.

Subject Keywords

Dört Tekerlekten Yönlendirme, Dört Çeker, Ackerman Direksiyonu, Teker Kayması, Manevra Kabiliyeti

URI

https://hdl.handle.net/11511/107751

Collections

Graduate School of Natural and Applied Sciences, Thesis