Vision-based estimation of slip angle for mobile robots and planetary rovers

Giulio Reina, Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

研究成果: Conference contribution

29 被引用数 (Scopus)

抄録

For a mobile robot it is critical to detect and compensate for slippage, especially when driving in rough terrain environments. Due to its highly unpredictable nature, drift largely affects the accuracy of localization and control systems, even leading, in extreme cases, to the danger of vehicle entrapment with consequent mission failure. This paper presents a novel method for lateral slip estimation based on visually observing the trace produced by the wheels of the robot, during traverse of soft, deformable terrain, as that expected for lunar and planetary rovers. The proposed algorithm uses a robust Hough transform enhanced by fuzzy reasoning to estimate the angle of inclination of the wheel trace with respect to the vehicle reference frame. Any deviation of the wheel trace from the planned path of the robot suggests occurrence of sideslip that can be detected, and more interestingly, measured. This allows one to estimate the actual heading angle of the robot, usually referred to as the slip angle. The details of the various steps of the visual algorithm are presented and the results of experimental tests performed in the field with an allterrain rover are shown, proving the method to be effective and robust.

本文言語English
ホスト出版物のタイトル2008 IEEE International Conference on Robotics and Automation, ICRA 2008
ページ486-491
ページ数6
DOI
出版ステータスPublished - 2008
イベント2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
継続期間: 2008 5 192008 5 23

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Other

Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
国/地域United States
CityPasadena, CA
Period08/5/1908/5/23

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

フィンガープリント

「Vision-based estimation of slip angle for mobile robots and planetary rovers」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル