Improvement of the odometry accuracy of a crawler vehicle with consideration of slippage

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2007, Pages 2752-2757

  Nagatani, Keiji ^a   Endo, Daisuke ^a   Yoshida, Kazuya ^a  

^a TOHOKU UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ENCODING (SYMBOLS); INFORMATION USE; MOTION PLANNING; NAVIGATION SYSTEMS; VELOCITY CONTROL;

CRAWLER VEHICLES; ENCODERS; ODOMETRY;

MOBILE ROBOTS;

EID: 36348937830     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2007.363881     Document Type: Conference Paper

References (5)

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2. J. Y. Wong, Theory of Ground Vehicles. John Wiley & Sons, 1978.
3. Z. Shiller and W. Serate, "Trajectory planning of tracked vehicles," Transactions of the ASME. Journal of Dynamic Systems, Measurement, and Control, vol. 117, pp. 619-624, 1995.
4. D. Helmick, Y. Cheng, and S. I. Roumeliotis, "Path following using visual odometry for a mars rover in high-slip environments," in Proc. of the 2004 IEEE Aerospace Conference, 2004, pp. 772-789.
5. J.Borenstein and L.Feng, "Gyrodometry: A new method for combining data from gyros and odometry in mobile robots," in Proceedings of IEEE International Conference on Robotics and Automation, 1996, pp. 423-428.