Kinematic observers for articulated rovers

Balaram, J.

doi:10.1109/robot.2000.846419

Cited by 25 publications

(26 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Most just estimate slip as it occurs (e.g. [1], [23]) then rely on feedback control to correct for it ([8], [17]), but unpredicted wheel slip can cause a collision before the feedback controller can react, or entrapment [20]. There are many wheel-level models of slip in the literature but few publications incorporate these into full WMR models.…”

Section: Related Workmentioning

confidence: 99%

Enhanced 3D Kinematic Modeling of Wheeled Mobile Robots

Seegmiller

Kelly

2014

Robotics: Science and Systems X

View full text Add to dashboard Cite

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.

show abstract

Section: Related Workmentioning

confidence: 99%

Enhanced 3D Kinematic Modeling of Wheeled Mobile Robots

Seegmiller

Kelly

2014

Robotics: Science and Systems X

View full text Add to dashboard Cite

show abstract

“…A of study the kinematics of a particular rover is reported in [12]. A Kalman-filter approach is proposed in [13] to estimate the wheel contact angle for traction control, and [14] employs simple kinematics model and a state observer to estimate rover position/orientation velocities. In a recent paper [15], we developed a full kinematics model of an articulated rover and provided analysis of such rovers.…”

Section: Introductionmentioning

confidence: 99%

A Systematic Approach to Kinematics Modeling of High Mobility Wheeled Rovers

Tarokh

McDermott

2007

Proceedings 2007 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

The paper proposes a systematic, data-driven method for kinematics modeling of high mobility wheeled rovers traversing uneven terrain. The method is based on the propagation of position and orientation velocities starting from the rover reference frame and going through various joints and linkages to the wheels. Equations of the motion are set up in a compact form, which only require the D-H parameters of the rover joints and links. To illustrate the proposed kinematics modeling, the method is applied to a rover similar to the NASA's Sample Return Rover.1 3 × translation velocity vector of the next frame i+1 is dependent on the translational and rotational velocities of the current frame i plus any translational velocity added to the frame i+1 itself. This can be written as [16]

show abstract

“…It would probably be possible to use a smoothed version of this where the noise parameters are tuned according to the estimated acceleration level. For a study more along this line of thinking we refer to the work by Balaram (2000).…”

Section: Problem Formulation and Solutionmentioning

confidence: 99%

“…Especially Extended Kalman ÿlters (EKF) are known to have an unpredictable behavior even though they often can be used successfully. Attitude estimation via di erent ensembles of the above mentioned sensors has been studied by many authors such as Vaganay, Aldon, and Fournier (1993), Barshan and Durrant-Whyte (1995), Foxlin (1996), Foxlin, Harrington, andAltshuler (1998), Baerveldt and Klang (1997), Balaram (2000) and by Rehbinder and Hu (2000a, b). Rehbinder and Hu (2000a, b) have previously designed an algorithm (Rehbinder & Hu, 2000a, b) for fusing inclinometer and gyro data that could be shown to be stable and convergent.…”

Section: Introductionmentioning

confidence: 99%

Drift-free attitude estimation for accelerated rigid bodies

Rehbinder

2004

Automatica

200

View full text Add to dashboard Cite

In this paper we study the attitude estimation problem for an accelerated rigid body using gyros and accelerometers. The application in mind is that of a walking robot and particular attention is paid to the large and abrupt changes in accelerations that can be expected in such an environment. We propose a state estimation algorithm that fuses data from rate gyros and accelerometers to give long-term drift free attitude estimates. The algorithm does not use any local parameterization of the rigid body kinematics and can thus be used for a rigid body performing any kind of rotations. The algorithm is a combination of two non-standard, but in a sense linear, Kalman ÿlters between which a trigger based switching takes place. The kinematics representation used makes it possible to construct a linear algorithm that can be shown to give convergent estimates for this nonlinear problem. The state estimator is evaluated in simulations demonstrating how the estimates are long-term stable even in the presence of gyro drift. ?

show abstract

Kinematic observers for articulated rovers

Cited by 25 publications

References 17 publications

Enhanced 3D Kinematic Modeling of Wheeled Mobile Robots

Enhanced 3D Kinematic Modeling of Wheeled Mobile Robots

A Systematic Approach to Kinematics Modeling of High Mobility Wheeled Rovers

Drift-free attitude estimation for accelerated rigid bodies

Contact Info

Product

Resources

About