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ICRA
2007
IEEE

Model-Based Wheel Slip Detection for Outdoor Mobile Robots

13 years 10 months ago
Model-Based Wheel Slip Detection for Outdoor Mobile Robots
— 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.
Chris C. Ward, Karl Iagnemma
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where ICRA
Authors Chris C. Ward, Karl Iagnemma
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