Dead-reckoning for a two-wheeled mobile robot on curved surfaces

Kim, K.R.; Lee, J.C.; Kim, J.H.

doi:10.1109/robot.1996.506962

Cited by 4 publications

(3 citation statements)

References 1 publication

Supporting

Mentioning

Contrasting

Order By: Relevance

“…DR is a well-known and widely used method to estimate the position and orientation of a robot during its motion. DR uses the position and orientation at time t i-1 to calculate the position and orientation at time t i using the kinematic model of the robot defined by equation (5).…”

Section: Dead Reckoningmentioning

confidence: 99%

“…All of these investigations used only visual servoing, which requires the presence of the object within the tracked scene during servoing. In [5, 6], a DR system was developed for the movement of a WMR. First used for the navigation of ships, this technique, when implemented in robots, depends on both the position and orientation of encoders that are fixed to the wheels; therefore, problematically, if one or two wheels of the robot spin(s), the related information is lost.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Visual Tracking in Unknown Environments Using Fuzzy Logic and Dead Reckoning

Mekhtiche

Benselama

Bencherif

et al. 2016

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

This paper addresses the problem of making a nonholonomic wheeled mobile robot (WMR) move to a target object using computer vision and obstacle-avoidance techniques. If a priori information about the obstacles is available, pre-planning the desired path can be a good candidate method. However, in so many cases, obstacles are dynamic. Therefore, our first challenge is to make the WMR move to a desired target while autonomously avoiding any obstacle along its path. The second challenge deals with visual-tracking loss; that is, when the target is lost from the camera scope, the robot should use Dead Reckoning (DR) to get back on its path towards the target. The Visual Tracking (VT) algorithm then takes the relay to reach the final destination, compensating for any errors due to DR by calculating the distance to the target when it is within the scope of the camera. The proposed system also uses two fuzzy-logic controllers; the first controller avoids objects while the second manages the path to the target. Different complex scenarios have been implemented, showing the validity of our multi-controller model.

show abstract

Section: Dead Reckoningmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Visual Tracking in Unknown Environments Using Fuzzy Logic and Dead Reckoning

Mekhtiche

Benselama

Bencherif

et al. 2016

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

“…Kinematic techniques include an effort by by Kim, et.al [8] to extend a dead-reckoning formula for a two-wheeled mobile robot motion on a known curved surface. Slip modeling for a vehicle operating in the plane is considered by Madhavan, et.…”

Section: Previous Rover State Estimation Workmentioning

confidence: 99%

Kinematic state estimation for a Mars rover

Balaram

2000

Robotica

View full text Add to dashboard Cite

The Jet Propulsion Laboratory (JPL) is embarking on a series of exploration missions to Mars. Long-range rovers with several science instruments on board will traverse many kilometers on the surface. This paper describes some of the research underway at JPL as they pertain to navigation of these long-range rovers. A brief description is provided of the Sojourner rover which recently completed a short-range, near-lander Mars mission. A research rover called Rocky-7 under development at JPL implements a number of new technologies for long-range Mars traverses. The kinematic configuration of this vehicle is described as is tile sensor set. The paper then focuses on state estimation techniques used on-board Rocky-7. A brief review of rover-related state-estimation work is presented and an Extended Kalman Filter framework is introduced. This includes process models for translation, small-angle/quaternion based rotations, gyro bias and wheel contact as well as observation models for a gyro, sun-sensor, and accelerometer. A novel slip constraint technique is developed to allow incorporation into the filter of the highly non-linear kinematics resulting from the rover's rocker-bogey suspension mechanism and wheel-to-ground contact point variations. Simulation results are discussed to allow detailed comparisons with ground-truth data and experimental results from Rocky-7 are presented.

show abstract

Kinematic observers for articulated rovers

Balaram

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (C

View full text Add to dashboard Cite

Dead-reckoning for a two-wheeled mobile robot on curved surfaces

Cited by 4 publications

References 1 publication

Visual Tracking in Unknown Environments Using Fuzzy Logic and Dead Reckoning

Visual Tracking in Unknown Environments Using Fuzzy Logic and Dead Reckoning

Kinematic state estimation for a Mars rover

Kinematic observers for articulated rovers

Contact Info

Product

Resources

About