Current-Based Slippage Detection and Odometry Correction for Mobile Robots and Planetary Rovers

Abstract

Abstract-This paper introduces a novel method for wheel-slippage detection and correction based on motor current measurements. Our proposed method estimates wheel slippage from motor current measurements, and adjusts encoder readings affected by wheel slippage accordingly. The correction of wheel slippage based on motor currents works only in the direction of motion, but not laterally, and it requires some knowledge of the terrain. However, this knowledge does not have to be provided ahead of time by human operators. Rather, we propose three tuning techniques for determining relevant terrain parameters automatically, in real time, and during motion over unknown terrain. Two of the tuning techniques require position ground truth (i.e., GPS) to be available either continuously or sporadically. The third technique does not require any position ground truth, but is less accurate than the two other methods. A comprehensive set of experimental results have been included to validate this approach.

A Mobile Robot Navigation System Using RFID Technology

“…In this navigation method a small precision errors and sensor drifts inevitably lead to increasing cumulative errors in the robot's position and orientation, unless an independent reference is used periodically to correct the error [3]. The studies in [4], [5] are developed based on the integration of deadreckoning and visual land mark recognition methodologies for the navigation control of a vehicle along a predetermined path in a forest.…”

“…The indoor mobile robot navigation presented in [6] uses global ultrasonic system for the robot's position estimation while navigating in an environment Hallmannetal. [7] developed a mobile robot B14 to navigate in a partially known environment. The vehicle is equipped with 16 sonar, 16 infrared sensors, an on-board Pentium computer, and a gray-scale camera in which a map of the robot's environment is built based on the information fed by the sonar and infrared sensors mounted on the robot.…”

IMU-based localization and slip estimation for skid-steered mobile robots

“…It is wellknown that directly integrating acceleration measurements to obtain position information is problematic due to bias or noise measurements in IMU signals. In [6], [7], reduction of the odometry of the skid-steered robots are discussed for dead-reckoning applications using encoder and motor current measurement information. In [8], localization of a tracked vehicle is presented based on kinematic models provided in [9]- [11].…”

Slip detection and compensation in autonomous tracked micro-vehicles.

“…(Pilgrim, 2004) .... 18 Odometry based systems, also known as "dead reckoning" systems, are very reliable and accurate on smooth, flat terrain and over short distances. However, when traversing rough terrain, especially soft surfaces like sand or gravel in which the terrain itself can move, dead reckoning based systems are typically not considered useful because wheels slip and the measured rotation does not accurately reflect the distance truly traveled (Ojeda, Cruz, Reina, & Borenstein, 2006). Much research is being conducted in this field to improve the accuracy and simplify the systems that are being implemented on various platforms.…”

“…Little research has a b 6 been performed on the effects of wheel slip which will affect odometry accuracy, traction and performance and could lead to the failure of a localization routine and ultimately the failure of the robot to meet its objective (Reina, Ojeda, Milella, & Borenstein, 2006). Current methods to detect wheel slippage make use of encoders, gyroscopes and a current indicator to monitor the speed of rotation in the wheels and the resistance incurred (Ojeda, Cruz, Reina, & Borenstein, 2006).…”