Online slip parameter estimation for tracked vehicle odometry on loose slope

Genki Yamauchi, Daiki Suzuki, Keiji Nagatani

研究成果: Conference contribution

6 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトルSSRR 2016 - International Symposium on Safety, Security and Rescue Robotics
編集者Kamilo Melo
出版者Institute of Electrical and Electronics Engineers Inc.
ページ227-232
ページ数6
ISBN(電子版)9781509043491
DOI
出版物ステータスPublished - 2016 12 14
イベント14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016 - Lausanne, Switzerland
継続期間: 2016 10 232016 10 27

出版物シリーズ

名前SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics

Other

Other14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016
Switzerland
Lausanne
期間16/10/2316/10/27

ASJC Scopus subject areas

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

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  • これを引用

    Yamauchi, G., Suzuki, D., & Nagatani, K. (2016). Online slip parameter estimation for tracked vehicle odometry on loose slope. : K. Melo (版), 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