Slip compensated odometry for a tracked vehicle when rotating on a loose weak slope

Genki Yamauchi, Keiji Nagatani, Takeshi Hashimotoa, Kenichi Fujinoa

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

1 Citation (Scopus)

Abstract

Slip-compensated odometry based on the slip estimation method of a tracked vehicle is proposed to improve the accuracy of position estimation. While a robot travels on a loose and weak slope, it slips longitudinally and laterally, particularly when rotating. These slips introduce error in odometry, and it is difficult to use odometry in controlling a robot and recognition of an environment such as trajectory following and three-dimensional mapping. In this paper, we describe a method of estimating these slips with inertial information, rotation velocity of the tracks employing a simple regression function. We confirmed that previous work of estimating longitudinal slippage on a horizontal plane can be applied for a weak slope. Estimation of lateral slippage is based on a regression analysis using offline training data of a robot's travel on a slope. This regression technique can be used online using information from a global navigation satellite system or other sensors. We applied these slip estimation methods to a kinematic model of a skid-steering tracked vehicle for odometry, and confirmed the improvement in precision of odometry compared with conventional odometry by conducting indoor sandy-slope experiments. We also proposed a path following control law considering lateral slippage, and confirmed the effectiveness of the control law in experiments.

Original languageEnglish
Title of host publication19th International and 14th European-African Regional Conference of the ISTVS
EditorsPeter Kiss, Laszlo Mathe
PublisherInternational Society for Terrain-Vehicle Systems
ISBN (Electronic)9781942112495
Publication statusPublished - 2017
Event19th International and 14th European-African Regional Conference of the International Society for Terrain-Vehicle, ISTVS 2017 - Budapest, Hungary
Duration: 2017 Sep 252017 Sep 27

Publication series

Name19th International and 14th European-African Regional Conference of the ISTVS

Other

Other19th International and 14th European-African Regional Conference of the International Society for Terrain-Vehicle, ISTVS 2017
Country/TerritoryHungary
CityBudapest
Period17/9/2517/9/27

Keywords

  • Odometry
  • Skid-steering tracked vehicle
  • Slip estimation

ASJC Scopus subject areas

  • Automotive Engineering

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