Model-based wheel slip detection for outdoor mobile robots

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2007, Pages 2724-2729

  Ward, Chris C ^a   Iagnemma, Karl ^a  

^a Massachusetts Institute of Technology Cambridge   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONSTRAINT THEORY; GLOBAL POSITIONING SYSTEM; MATHEMATICAL MODELS; PARAMETER ESTIMATION; VELOCITY CONTROL;

ROBOT IMMOBILIZATION; VEHICLE DYNAMICS;

MOBILE ROBOTS;

EID: 36348935039     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2007.363877     Document Type: Conference Paper

References (26)

1. J. Borenstein, H. R. Everett, L. Feng, "Where am I?" Sensors and Methods for Mobile Robot Positioning, Univ. of Michigan, April 1996, http://www-personal.umich.edu/-johannb/shared/pos96rep.pdf.
2. Y Fuke, E. Krotkov, "Dead reckoning for a lunar rover on uneven terrain,"Proc.of 1996 IEEE Intl. Conf. on Robotics and Automation.
3. F. Gustafsson, "Slip-based tire-road friction estimation," Automatica, vol. 33, no. 6, pp. 1087-1099, 1997.
4. L. Ojeda, G. Reina, J. Borenstein, "Experimental results from FLEXnav: An expert rule-based dead-reckoning system for Mars rovers,"IEEEAerospace Conference 2004, Big Sky, MT, 2004.
5. L. Ojeda, D. Cruz, G. Reina, J. Borenstein, "Current-based slippage detection and odometry correction for mobile robots and planetary rovers," IEEE Transactions on Robotics, vol. 22, no. 2, April 2006.
6. H. Tan, Y. Chin, "Vehicle antilock braking and traction control: a theoretical study," Intl. Jrnl. of Systems Science, vol. 23, no. 3, 1992.
7. th ed., Robert Bosch GmbH, Germany, 2000.
8. R. Anderson, D Bevly, "Estimation of slip angles using a model based estimator and GPS,"Proc. of the 2004 American Control Conf., v. 3.
9. A. Kelly, "A 3D state space formulation of a navigation Kalman filter for autonomous vehicles,"CMU Tech. Report CMU-RI-TR-94-19.
10. M. Wadda, K. Yoon, H. Hashimoto, "High accuracy road vehicle state estimation using extended Kalman filter," Proc. of 2000 IEEE Intelligent Transportation Systems, Dearborn, MI, October 2000.
11. S. Julier, H. Durrant-Whyte. "On the role of process models in autonomous land vehicle navigation systems," IEEE Trans. on Robotics and Automation, vol.19, no. 1, 2003.
12. S. Sukkarieh, E. Nebot, H. Durrant-Whyte, "A high integrity IMU/GPS navigation loop for autonomous land vehicle applications," IEEE Trans. on Robotics and Automation, vol. 15, no. 3, June 1999.
13. th ed., Springer, 2001.
14. GPS 16/17 Series Technical Specifications, Garmin Intl., Inc., 2005.
15. C. Ward, K. Iagnemma, "Classification-based wheel slip detection and detector fusion for outdoor mobile robots," 2007 IEEE Int. Conf. on Robotics and Automation.
16. T. Gillespie, Fundamentals of Vehicle Dynamics. Society of Automotive Engineers, Warrendale, PA. 1992, ch. 1.
17. M.G.Bekker,Theory of Land Locomotion, Univ. of MichiganPress, Ann Arbor, 1956, ch. 9 & 6.
18. M. Hung, D. Orin, "Dynamic simulation of actively-coordinated wheeled vehicle systems on uneven terrain," Proc. of the 2001 IEEE Intl. Conf. on Robotics and Automation, Seoul, Korea, May 2001.
19. V. Kumar, K. Waldron, "Force distribution in closed kinematic chains," IEEE Jrnl. of Robotics and Automation, vol. 4, no. 6, 1988.
20. rded., Wiley,2001,ch. 1.
21. G. Welch, G. Bishop, "An introduction to the Kalman filter," SIGGRAPH 2001.
22. M. Grewal, A. Andrews. Kalman Filtering: Theory and Practice, Englewood Cliffs, NJ: Prentice Hall, 1993, ch. 7.
23. W. Flenniken, J. Wall, D. Bevly, "Characterization of various IMU error sources and the effect on navigation performance," Proc. of ION GNSS 2005.
24. "Moving Averages", July 2006, http://www.stockcharts.com/ education/IndicatorAnalysis/indic_movingAvg.html
25. J. Geeter, H. Brussel, J. Schutter, "A Smoothly Constrained Kalman Filter," IEEE Trans. on Pattern Analysis and Machine Intelligence, vol. 19, no. 10, October 1997.
26. "Learning Applied to Ground Robots," accessed July 24, 2006, http://www.darpa.mil/ipto/Programs/lagr/vision.htm.