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Model-based wheel slip detection 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, p. 2724-2729Conference paper, Published paper (Refereed)
Abstract [en]

This paper introduces a model-based approach to estimating longitudinal wheel slip and detecting immobilized conditions of autonomous mobile robots operating on outdoor terrain. A novel tire traction/braking model is presented and used to calculate vehicle dynamic forces in an extended Kalman filter framework. Estimates of external forces and robot velocity are derived using measurements from wheel encoders, IMU, and GPS. Weak constraints are used to constrain the evolution of the resistive force estimate based upon physical reasoning. Experimental results show the technique accurately and rapidly detects robot immobilization conditions while providing estimates of the robot's velocity during normal driving. Immobilization detection is shown to be robust to uncertainty in tire model parameters. Accurate immobilization detection is demonstrated in the absence of GPS, indicating the algorithm is applicable for both terrestrial applications and space robotics. © 2007 IEEE.

Place, publisher, year, edition, pages
Piscataway, N.J.: IEEE Press, 2007. p. 2724-2729
Series
IEEE International Conference on Robotics and Automation. Proceedings, ISSN 1050-4729
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20773DOI: 10.1109/ROBOT.2007.363877ISI: 000250915302114Scopus ID: 2-s2.0-36348935039ISBN: 978-1-4244-0601-2 OAI: oai:DiVA.org:hh-20773DiVA, id: diva2:586726
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: 2018-03-22Bibliographically approved

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Iagnemma, Karl

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • 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
  • text
  • asciidoc
  • rtf