1. Intelligent Traction Control Smart Robot
Cole Perrault
Fall 2015
ET 493
Wesley Deneke
Cris Koutsougeras

2. Problem
Automobiles have adapted distributing power to two or four wheels via differential.
Differentials solve this problem by means of a traction control system in order to distribute the power elsewhere to regain traction.
Implementing an electronic traction control system onto a robotic platform can serve as a intelligent traction system to control each individual wheel.

3. Mecanum Wheel Pros Cons Maneuverability 70% Push Force Full Traction
Reliability
Friction
Power
Terrain
Inclines
Weight
Sliding

4. Mecanum Wheels

5. Holobot

6. Hardware

7. DC Motor Gear Ratio: 74.83:1 6V Free-Run 130rpm
6V Free-Run Current 450mA
6V Stall Current 6000mA
6V Stall Torque 130 oz*in
48 CPR gives 3592 Counts per Revolution

8. Proportional-Integral-Derivative
Implementing a closed loop PID system, that can be turned on or off.
Will monitor each wheel’s angular velocity and current/torque to determine wheel slippage.
Will automatically adjust slipping wheel to normal behavior based on slipping coefficients.

9. Proportional-Integral-Differential
Proportional – Product of gain and measured error. Reduces large part of overall error
Integral – Summing error over time to drive the system to smaller error. Reduces final error in a system
Derivative – Counteracts the Kp and Ki terms when output changes quickly.

10. PID System

11. Methodology 1. Run robot under normal conditions
2. Simulate one wheel slipping under normal conditions
3. Adjust conditions to regain control
Experiment 1 - Control; Recording current and angular velocity
Experiment 2 - Slipping Condition; Recording current and angular velocity
Experiment 3 - Apply more current to slipping wheel to determine percent of slippage.

12. Soft Controller Using Wireless Xbee Shield to issue movement commands
Commands will be described by JSON and XML description language such as OWL or OWL-S
CMPS 411 group will give commands over network “Soft Controller”
Demonstrate flexibility of the controller command system

13. Motivation
Implement PID system for personal development – learn something
Have a platform to be used by future students – teach others
Implement small research and development for the stability in systems – perform research
Contribution to the school for future interests – school merit
Create a platform for soft controller – group development

14. Current Accomplishments
Future Goals
Peripherals Research
DC Motor Research
Voltage Regulation
Transfer Function Equations
Building the Holobot
Coding the Holobot
Coding the PID
Implementation of PID
Testing of PID
Integration of Soft Controller

15. Deliverables PowerPoint Presentation……………………..…………...…Sept. 11
Encoders…………………………………………...…………...Sept. 14
Experiment 1 & 2……………….……………… …………Sept. 28
Coding/Implementation of PID…………….……………….…..Oct. 1
Experiment 3……………………………….……...…..……..….Oct. 14
PID Analysis……………………………………………..……….Oct. 23
Implementation of Soft Controller………………… Nov. 1
Final Analysis……………………………….…………….…… Nov. 20

16. Holobot
Cole Perrault Fall 2015 ET 493 Wesley Deneke Cris Koutsougeras