TY  - JOUR
AU  - Yang, Shiteng
PY  - 2026
DA  - 2026/09/25
TI  - A Review of Wheel-Slip Control Algorithms for Wheeled Mobile Robots
JO  - ICCK Transactions on Intelligent Cyber-Physical Systems
T2  - ICCK Transactions on Intelligent Cyber-Physical Systems
JF  - ICCK Transactions on Intelligent Cyber-Physical Systems
VL  - 1
IS  - 3
SP  - 113
EP  - 120
DO  - 10.62762/TICPS.2026.133355
UR  - https://www.icck.org/article/abs/TICPS.2026.133355
KW  - wheeled mobile robot
KW  - wheel slip
KW  - trajectory tracking
KW  - slip-ratio control
AB  - Wheeled mobile robots are prone to longitudinal slip, lateral sideslip, and combined slip when operating on wet, soft, and unstructured terrain, which degrades localization accuracy, trajectory tracking, traction performance, and energy consumption. Based on 36 studies, this paper reviews slip modeling and state estimation, trajectory compensation, slip-ratio and traction control, multi-wheel slip coordination and torque allocation, and integrated multi-constraint control. The methods are compared in terms of technological evolution, control objectives, applicable operating conditions, validation levels, and representative experimental results. Existing studies still face challenges in modeling combined slip, reliable state identification under abrupt terrain changes, and standardized cross-platform real-world evaluation. Future research should further integrate multi-source sensing, online identification, and hierarchical coordinated control to improve adaptability to complex terrain and engineering applicability.
SN  - 3071-2947
PB  - Institute of Central Computation and Knowledge
LA  - English
ER  - 

@article{Yang2026A,
  author = {Shiteng Yang},
  title = {A Review of Wheel-Slip Control Algorithms for Wheeled Mobile Robots},
  journal = {ICCK Transactions on Intelligent Cyber-Physical Systems},
  year = {2026},
  volume = {1},
  number = {3},
  pages = {113-120},
  doi = {10.62762/TICPS.2026.133355},
  url = {https://www.icck.org/article/abs/TICPS.2026.133355},
  abstract = {Wheeled mobile robots are prone to longitudinal slip, lateral sideslip, and combined slip when operating on wet, soft, and unstructured terrain, which degrades localization accuracy, trajectory tracking, traction performance, and energy consumption. Based on 36 studies, this paper reviews slip modeling and state estimation, trajectory compensation, slip-ratio and traction control, multi-wheel slip coordination and torque allocation, and integrated multi-constraint control. The methods are compared in terms of technological evolution, control objectives, applicable operating conditions, validation levels, and representative experimental results. Existing studies still face challenges in modeling combined slip, reliable state identification under abrupt terrain changes, and standardized cross-platform real-world evaluation. Future research should further integrate multi-source sensing, online identification, and hierarchical coordinated control to improve adaptability to complex terrain and engineering applicability.},
  keywords = {wheeled mobile robot, wheel slip, trajectory tracking, slip-ratio control},
  issn = {3071-2947},
  publisher = {Institute of Central Computation and Knowledge}
}