Omni-directional mobile robot controller based on trajectory linearization
Robotics and Autonomous Systems
Effect of Slip on Tractive Performance of Small Rigid Wheel on Loose Sand
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
Estimation of terrain forces and parameters for rigid-wheeled vehicles
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
Modeling and motion stability analysis of skid-steered mobile robots
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Efficient off-road localization using visually corrected odometry
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
An efficient solution to 6DOF localization using unscented Kalman filter for planetary rovers
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
How the Location of the Range Sensor Affects EKF-based Localization
Journal of Intelligent and Robotic Systems
Fuzzy-logic-assisted interacting multiple model (FLAIMM) for mobile robot localization
Robotics and Autonomous Systems
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This paper introduces a novel method for wheel-slippage detection and correction based on motor current measurements. Our proposed method estimates wheel slippage from motor current measurements, and adjusts encoder readings affected by wheel slippage accordingly. The correction of wheel slippage based on motor currents works only in the direction of motion, but not laterally, and it requires some knowledge of the terrain. However, this knowledge does not have to be provided ahead of time by human operators. Rather, we propose three tuning techniques for determining relevant terrain parameters automatically, in real time, and during motion over unknown terrain. Two of the tuning techniques require position ground truth (i.e., GPS) to be available either continuously or sporadically. The third technique does not require any position ground truth, but is less accurate than the two other methods. A comprehensive set of experimental results have been included to validate this approach