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Classification-based wheel slip detection and detector fusion for outdoor mobile robots
MIT, USA.
MIT, USA.
2007 (English)In: Proceedings of the 2007 IEEE International Conference on Robotics and Automation, Vols 1-10, Piscataway, N.J.: IEEE Press, 2007, 2730-2735 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper introduces a signal-recognition based approach for detecting autonomous mobile robot immobilization on outdoor terrain. The technique utilizes a support vector machine classifier to form class boundaries in a feature space composed of statistics related to inertial and (optional) wheel speed measurements. The proposed algorithm is validated using experimental data collected with an autonomous robot operating in an outdoor environment. Additionally, two detector fusion techniques are proposed to combine the outputs of multiple immobilization detectors. One technique is proposed to minimize false immobilization detections. A second technique is proposed to increase overall detection accuracy while maintaining rapid detector response. The two fusion techniques are demonstrated experimentally using the detection algorithm proposed in this work and a dynamic model-based algorithm. It is shown that the proposed techniques can be used to rapidly and robustly detect mobile robot immobilization in outdoor environments, even in the absence of absolute position information. © 2007 IEEE.

Place, publisher, year, edition, pages
Piscataway, N.J.: IEEE Press, 2007. 2730-2735 p.
Series
IEEE International Conference on Robotics and Automation. Proceedings, ISSN 1050-4729
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20777DOI: 10.1109/ROBOT.2007.363878ISI: 000250915302115Scopus ID: 2-s2.0-36348985500ISBN: 978-1-4244-0601-2 OAI: oai:DiVA.org:hh-20777DiVA: diva2:586725
Conference
IEEE International Conference on Robotics and Automation, APR 10-14, 2007, Rome, ITALY
Available from: 2013-01-12 Created: 2013-01-12 Last updated: 2013-02-12Bibliographically approved

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CiteExportLink to record
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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
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  • asciidoc
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