Sciweavers

Share
IJRR
2007

Autonomous Stair Climbing for Tracked Vehicles

10 years 6 months ago
Autonomous Stair Climbing for Tracked Vehicles
Abstract— In this paper, we present an algorithm for autonomous stair climbing with a tracked vehicle. The proposed method achieves robust performance under real-world conditions, without assuming prior knowledge of the stair geometry, the dynamics of the vehicle’s interaction with the stair surface, or lighting conditions. Our approach relies on fast and accurate estimation of the robot’s heading and its position relative to the stair boundaries. An extended Kalman filter is used for quaternion-based attitude estimation, fusing rotational velocity measurements from a 3-axial gyroscope, and measurements of the stair edges acquired with an onboard camera. A twotiered controller, comprised of a centering- and a headingcontrol module, utilizes the estimates to guide the robot fast, safely, and accurately upstairs. Both the theoretical analysis and implementation of the algorithm are presented in detail, and extensive experimental results demonstrating the algorithm’s performance ...
Anastasios I. Mourikis, Nikolas Trawny, Stergios I
Added 15 Dec 2010
Updated 15 Dec 2010
Type Journal
Year 2007
Where IJRR
Authors Anastasios I. Mourikis, Nikolas Trawny, Stergios I. Roumeliotis, Daniel M. Helmick, Larry Matthies
Comments (0)
books