model-based wheel slip detection for outdoor mobile robots

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1、2007IEEEInternationalConferenceonThC11.1RoboticsandAutomationRoma,Italy,10-14April2007Model-BasedWheelSlipDetectionforOutdoorMobileRobotsChrisC.WardandKarlIagnemmacurrentmeasurementandterrain-specificparametertuning.Abstract—Thispaperintroducesamodel-basedapproachtoestimatinglongitudina

2、lwheelslipanddetectingimmobilizedAbodyofworkexistsintheautomotivecommunityrelatedconditionsofautonomousmobilerobotsoperatingonoutdoortotractioncontrolandanti-lockbrakingsystems(ABS);terrain.Anoveltiretraction/brakingmodelispresentedandhowever,thisworkgenerallyappliesatsignificantlyhighe

3、rusedtocalculatevehicledynamicforcesinanextendedKalmanspeedsthanistypicalforautonomousrobots[6],[7].filterframework.Estimatesofexternalforcesandrobotvelocityarederivedusingmeasurementsfromwheelencoders,AlargeamountofworkhasutilizedKalmanfilterswithIMU,andGPS.Weakconstraintsareusedtocons

4、traintheinertialandabsolutemeasurementstoenhancedeadevolutionoftheresistiveforceestimatebaseduponphysicalreckoningandestimatelateralslip[8]-[10].Thenotionofanreasoning.Experimentalresultsshowthetechniqueaccuratelyeffectivetireradius,whichcanindirectlycompensateforandrapidlydetectsroboti

5、mmobilizationconditionswhilesomelongitudinalslip,ispresentedin[11].Noneofthisprovidingestimatesoftherobot’svelocityduringnormalwork,however,explicitlyconsiderstheeffectsofdriving.Immobilizationdetectionisshowntoberobusttouncertaintyintiremodelparameters.Accurateimmobilizationlongitudina

6、lwheelsliporvehicleimmobilization.detectionisdemonstratedintheabsenceofGPS,indicatingtheApotentiallysimpleapproachtodetectingrobotslipandalgorithmisapplicableforbothterrestrialapplicationsandimmobilizationistoanalyzeGPSmeasurements.However,spacerobotics.nearbytreesandbuildingscancausesi

7、gnallossandmultipatherrorsandchangingsatellitescancausepositionI.INTRODUCTIONandvelocityjumps[12],[13].Additionally,GPSprovidesMOBILErobotpositionestimationsystemstypicallylowfrequencyupdates(e.g.typicallynear1Hz[14])makingrely(inpart)onwheelodometryasadirectestimateofGPSalonet