Current-based slippage detection and odometry correction for mobile robots and planetary rovers

IEEE Transactions on Robotics

Volumn 22, Issue 2, 2006, Pages 366-378

  Ojeda, Lauro ^a   Cruz, Daniel ^b   Reina, Giulio ^c   Borenstein, Johann ^a  

^a UNIVERSITY OF MICHIGAN   (United States)

^b Oklahoma State University   (United States)

^c UNIVERSITY OF SALENTO   (Italy)

Author keywords

Mobile robot navigation; Parameter estimation; Slippage detection; Terrain factors

Indexed keywords

DISTANCE MEASUREMENT; MOTION PLANNING; NAVIGATION; PARAMETER ESTIMATION; PLANETARY LANDERS; TUNING;

MOBILE ROBOT NAVIGATION; MOTOR CURRENT MEASUREMENTS; SLIPPAGE DETECTION; TERRAIN FACTORS;

MOBILE ROBOTS;

EID: 33645815918     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2005.862480     Document Type: Article

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