Coordinated Control of Slip Ratio for Wheeled Mobile Robots Climbing Loose Sloped Terrain

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="396382.fig.003a" src="https://static.hindawi.com/articles/tswj/volume-2014/396382/figures/396382.fig.003a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Relationship between traction coefficient and slip ratio</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="396382.fig.003b" src="https://static.hindawi.com/articles/tswj/volume-2014/396382/figures/396382.fig.003b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Relationship between thrust coefficient and slip ratio</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="396382.fig.003c" src="https://static.hindawi.com/articles/tswj/volume-2014/396382/figures/396382.fig.003c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Relationship between traction efficiency and slip ratio</td></tr></table></td></tr><tr class="fig-image" id="d"><td><img alt="396382.fig.003d" src="https://static.hindawi.com/articles/tswj/volume-2014/396382/figures/396382.fig.003d.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(d) </b>Relationship between drive efficiency and slip ratio</td></tr></table></td></tr></table>

<table>Key performance indexes of robot climbing loose sloped terrain versus wheel slip ratio.</table>

The Scientific World Journal

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Figure 3

Figure 3: Coordinated Control of Slip Ratio for Wheeled Mobile Robots Climbing Loose Sloped Terrain 