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2007
IEEE

Path following control for tracked vehicles based on slip-compensating odometry

9 years 7 months ago
Path following control for tracked vehicles based on slip-compensating odometry
— Tracked vehicles have the advantage of stable locomotion on uneven terrain, and, as a result, such mechanisms are used for locomotion on outdoor robots, including those used for search and rescue. However, such mechanisms always slip when a tracked vehicle follows a curve, and the slippage generates large accumulated positioning errors in the vehicle compared with conventional wheeled mobile robots. To improve the accuracy of the odometry and enable a path-following control, the estimation of the track slippage is essential. In this paper, we propose an improved method of odometry for tracked vehicles to follow a straight line or a curve. In this method, the vehicle estimates the slip ratios using two encoders (attached to the actuators) and a gyro-sensor. Based on the improved odometry, the path-following control of tracked vehicles is significantly improved. The validity of the method was confirmed with experiments involving our tracked vehicle on several types of surfaces.
Daisuke Endo, Yoshito Okada, Keiji Nagatani, Kazuy
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where IROS
Authors Daisuke Endo, Yoshito Okada, Keiji Nagatani, Kazuya Yoshida
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