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

Daisuke Endo, Yoshito Okada, Keiji Nagatani, Kazuya Yoshida

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

48 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages2871-2876
Number of pages6
DOIs
Publication statusPublished - 2007 Dec 1
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: 2007 Oct 292007 Nov 2

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period07/10/2907/11/2

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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