Enhanced 3D Kinematic Modeling of Wheeled Mobile Robots

Abstract

Abstract-Most fielded wheeled mobile robots (WMRs) today use basic 2D kinematic motion models in their planning, control, and estimation systems. On uneven or low traction terrain, or during aggressive maneuvers, higher fidelity models are required which account for suspension articulations, wheel slip, and liftoff. In this paper we present a simple, algorithmic method to construct 3D kinematic models for any WMR configuration. We also present a novel enhancement to predict the effects of slip on bodylevel motion. Extensive experimental results are presented to validate our model formulation. We show odometry improvement by calibrating to data logs and modeling 3D articulations. We also show comparable predictive accuracy of our enhanced kinematic model to a full dynamic model, at much lower computational cost.

New potential field method for rough terrain path planning using genetic algorithm for a 6-wheel rover

“…Tarokh and McDermott [4] proposed a methodology for developing a complete kinematics model of a general All-Terrain Rover (ATR) and its interaction with the terrain. Seegmiller and Kelly [5] presented a simple algorithmic method to construct 3D kinematic models for any WMR (Wheeled Mobile Robot) configuration.…”

Slip Modeling and Estimation for a Planetary Exploration Rover: Experimental Results from Mt. Etna

“…slip, based on the integrated prediction error minimization (IPEM) method by [15] and [16], and adjust it to the specific use case. The greatest advantage of this algorithm is that no continuous ground-truth position or velocity measurements of the rover are needed, neither during the calibration phase nor during the autonomous operations of the space vehicle.…”

Kinematics of Spherical Robots Rolling over 3D Terrains

“…In [13], authors have investigated dynamics of Martian tumbleweed rovers while this special type of SR rolls in its heading direction and the turning action is not considered for them. In fact, while several researches have been done on 3D kinematics of other types of mobile robots such as legged [14] and wheeled robots [15,16], to the best of the authors' knowledge, the general problem of kinematics of SRs rolling on 3D terrains has not been investigated in the literature. The motivation to address this problem is that, while many applications of the SRs are on flat surfaces such as indoor [17], and paved roads [18], for a variety of applications such as agriculture [19], surveillance [20], environmental monitoring [21], and even planetary explorations [22], they would get exposed to uneven terrains.In this work, prior to deriving the kinematics of SRs on 3D terrains, a general method for modeling a geometrical sphere rolling over a mathematically known 3D surface is developed.…”