Improvement of the odometry accuracy of a crawler vehicle with consideration of slippage

Keiji Nagatani, Daisuke Endo, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

21 Citations (Scopus)

Abstract

Crawler mechanisms have the advantage of stable navigation on uneven terrain; as a result, such mechanisms have been adopted for many types of locomotion of outdoor robots, including "search and rescue robots". However, crawler mechanisms always slip when tracking curved paths, and it generates a large accumulating positioning error in vehicles as opposed to conventional wheeled mobile robots. To measure the velocity of the vehicle correctly and improve the accuracy of the odometry, consideration of crawlers' slippage is very important. In this research, we propose a more accurate odometry method for crawler vehicles. In the proposed method, the vehicle can estimate the slip ratios using information from encoders (attached to the actuators) and gyro-sensors. The validity of the method was confirmed by experiments using our crawler vehicle.

Original languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages2752-2757
Number of pages6
DOIs
Publication statusPublished - 2007 Nov 27
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: 2007 Apr 102007 Apr 14

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period07/4/1007/4/14

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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