A dynamic-model-based wheel slip detector for mobile robots on outdoor terrain

IEEE Transactions on Robotics

Volumn 24, Issue 4, 2008, Pages 821-831

  Ward, Chris C ^a,b   Iagnemma, Karl ^a  

^a Massachusetts Institute of Technology Cambridge   (United States)

^b ASML US Inc   (United States)

Author keywords

Extended Kalman filter (EKF); Mobile robots; Robot terrain interaction; Wheel slip

Indexed keywords

AUTOMATION; CELLULAR RADIO SYSTEMS; CONTROL THEORY; ESTIMATION; GLOBAL POSITIONING SYSTEM; MOBILE ROBOTS; ROBOTICS; SATELLITE NAVIGATION AIDS; TIRES; WHEELS;

AUTONOMOUS MOBILE ROBOTS; EXTENDED KALMAN FILTER (EKF); EXTERNAL FORCING; IMMOBILIZATION CONDITIONS; INERTIAL MEASUREMENT UNITS; MODEL-BASED; MODEL-BASED APPROACHES; NORMAL DRIVING; OUTDOOR TERRAIN; RESISTIVE FORCES; ROBOT VELOCITY; ROBOT-TERRAIN INTERACTION; SPACE-ROBOTICS; TERRESTRIAL APPLICATIONS; TIRE MODEL PARAMETERS; VEHICLE DYNAMIC; WHEEL ENCODERS; WHEEL SLIP; WHEEL SLIPS;

ROBOTS;

EID: 50649115940     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2008.924945     Document Type: Article

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