Anti-Slip Power-Assist Control System for Electric Transporter Based on Slip Acceleration Control

Electric transporters are capable of realizing comfortable cargo transportation by sensing the pushing force applied by the operator and amplifying it through the driving wheels, greatly reducing workload on tasks such as in fruit harvesting in narrow environments or transportation of supplies during environmental disasters, where regular vehicles are not able to access. However, on conditions such as sandy or muddy roads the driving wheels slip, causing the operator to momentarily lose control of the transporter. In this research, we propose a power-assist control method with integrated slip supression through slip acceleration control, which is easily achieved by wheel and vehicle body acceleration measurements. Through experimental verification we confirmed that our proposed method greatly improve assisting performance even in slippery conditions.