In a four-wheel independent drive platform, four wheels and motors are connected directly, and the rotation of the motors generates the power of the platform. It uses a skid steering system that steers based on the difference in rotational power between wheel motors. The platform can control the speed of each wheel individually and has excellent mobility on dirt roads. However, the difficulty of the straight-running is caused due to torque distribution variation in each wheel’s motor, and the direction of rotation of the wheel, and moving direction of the platform, and the difference of the platform’s target direction. This paper describes an algorithm to detect the slip generated on each wheel when a four-wheel independent drive platform is traveling in a harsh environment. When the slip is detected, a compensation control algorithm is activated to compensate the torque of the motor mounted on the platform to improve the trajectory tracking performance of the platform. The four-wheel independent drive platform developed for this study verified the algorithm. The wheel slip detection and the compensation control algorithm of the platform are expected to improve the stability of trajectory tracking.

Abstract
1. 서 론
2. 4륜 독립구동형 플랫폼
    2.1 플랫폼 하드웨어 시스템 구성
    2.2 상위 제어 시스템
    2.3 플랫폼 제어 시스템
3. 플랫폼 자율주행 알고리즘
    3.1 플랫폼 자율주행 요구사항 정의
    3.2 속도 제어 알고리즘
    3.3 경로 추종 알고리즘
4. 슬립 검출 및 슬립 보상 제어 알고리즘
    4.1 휠 슬립 검출 알고리즘
    4.2 보상 제어 알고리즘
5. 결 론
References

• 김봉상(Autonomous Vehicle & Intelligent Robotics Program, Hongik University) | Bongsang Kim
• 조성우(Autonomous Vehicle & Intelligent Robotics Program, Hongik University) | Sungwoo Cho
• 문희창(Mechanical and System Design Engineering, Hongik University) | Heechang Moon Corresponding author