Online slip parameter estimation for tracked vehicle odometry on loose slope

Genki Yamauchi, Daiki Suzuki, Keiji Nagatani

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

6 Citations (Scopus)

Abstract

In case of volcanic eruption, a robotic volcano exploration for observing restricted areas is expected to judge the evacuation call for inhabitants. An unmanned ground vehicle (UGV) is one possibility to apply to such exploration missions. When a UGV traverses on volcanic fields, a slippage between the vehicle and the terrain occurs. This is because the volcanic environment is covered with loose soil and rocks, and there are many slopes. The slippage causes several problems for UGVs, particularly localization and terrainability. Therefore, in this research, we propose a slip estimation method based on a slip model to apply to slip-compensated odometry for tracked vehicles. First, we propose a slip model for tracked vehicles based on the force acting on a robot on a slope. The proposed slip model has two parameters: a pitch angle dependence and a constant component, and these parameters were identified by indoor slope-traveling experiments. Next, we propose a slip parameter estimation method using a particle filter technique with a velocity measurement sensor, and report on the effectiveness of our method by slope-traveling experiments. The experimental result shows that the accuracy of our position estimation method based on the slip-compensated odometry is improved in comparison with conventional methods by using the slip parameters.

Original languageEnglish
Title of host publicationSSRR 2016 - International Symposium on Safety, Security and Rescue Robotics
EditorsKamilo Melo
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages227-232
Number of pages6
ISBN (Electronic)9781509043491
DOIs
Publication statusPublished - 2016 Dec 14
Event14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016 - Lausanne, Switzerland
Duration: 2016 Oct 232016 Oct 27

Publication series

NameSSRR 2016 - International Symposium on Safety, Security and Rescue Robotics

Other

Other14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016
CountrySwitzerland
CityLausanne
Period16/10/2316/10/27

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Artificial Intelligence
  • Safety, Risk, Reliability and Quality

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  • Cite this

    Yamauchi, G., Suzuki, D., & Nagatani, K. (2016). Online slip parameter estimation for tracked vehicle odometry on loose slope. In K. Melo (Ed.), SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics (pp. 227-232). [7784303] (SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSRR.2016.7784303