Vision-based estimation of slip angle for mobile robots and planetary rovers

Reina, Giulio; Ishigami, Genya; Nagatani, Keiji; Yoshida, Kazuya

doi:10.1109/robot.2008.4543254

Cited by 43 publications

(43 citation statements)

References 18 publications

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“…It is difficult to predict the wheel slip for a real exploration rover, especially when driving in rough terrain environments. Reina et al [131] presented a novel method for lateral slip estimation based on the visual observation of the trace produced by the wheels of the robot while traversing a rough and deformable terrain. Ding et al considered the problem of defining the longitudinal slip ratio for lugged planetary wheels.…”

Section: Dynamics Simulation Based On Terramechanics For Planetary Romentioning

confidence: 99%

Planetary rovers’ wheel–soil interaction mechanics: new challenges and applications for wheeled mobile robots

Ding

Deng

Gao

et al. 2010

Intel Serv Robotics

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With the increasing challenges facing planetary exploration missions and the resultant increase in the performance requirements for planetary rovers, terramechanics (wheel-soil interaction mechanics) is playing an important role in the development of these rovers. As an extension of the conventional terramechanics theory for terrestrial vehicles, the terramechanics theory for planetary rovers, which is becoming a new research hotspot, is unique and puts forward many new challenging problems. This paper first discusses the significance of the study of wheel-soil interaction mechanics of planetary rovers and summarizes the differences between planetary rovers and terrestrial vehicles and the problems arising thereof. The application of terramechanics to the development of planetary rovers can be divided into two phases (the R&D phase and exploration phase for rovers) corresponding to the high-fidelity and simplified terramechanics models. This paper also describes the current research status by providing an introduction to classical terramechanics and the experimental, theoretical, and numerical researches on terramechanics for planetary rovers. The application status of the terramechanics for planetary rovers is analyzed from the aspects of rover design, performance evaluation, planetary soil parameter identification, dynamics simulation, mobility control, and path planning. Finally, the key issues for future research are discussed. The current planetary rovers are actually advanced wheeled mobile robots (WMRs), developed employing cutting-edge technologies from different fields. The terramechanics for planetary rovers is expected to present new challenges and applications for WMRs, making it possible to develop WMRs using the concepts of mechanics and dynamics.

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Section: Dynamics Simulation Based On Terramechanics For Planetary Romentioning

confidence: 99%

Planetary rovers’ wheel–soil interaction mechanics: new challenges and applications for wheeled mobile robots

Ding

Deng

Gao

et al. 2010

Intel Serv Robotics

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“…There are many slip-estimation mechanisms to improve the localization, navigation, and tracking performance [3][4][5][6][7]. Inertial Measurement Unit (IMU)-based localization and slip estimation [8], fuzzy-controller and current-sensing based slip estimation [9,10], Kalman and Particle Filter based slip estimation [11,12], and vision-based slip estimation [13]. Most of the above wheel slip estimation techniques have some limitations.…”

Section: Introductionmentioning

confidence: 99%

A Robust Localization, Slip Estimation, and Compensation System for WMR in the Indoor Environments

Ullah

Zhang

et al. 2018

Symmetry

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Abstract:A novel approach is proposed for the path tracking of a Wheeled Mobile Robot (WMR) in the presence of an unknown lateral slip. Much of the existing work has assumed pure rolling conditions between the wheel and ground. Under the pure rolling conditions, the wheels of a WMR are supposed to roll without slipping. Complex wheel-ground interactions, acceleration and steering system noise are the factors which cause WMR wheel slip. A basic research problem in this context is localization and slip estimation of WMR from a stream of noisy sensors data when the robot is moving on a slippery surface, or moving at a high speed. DecaWave based ranging system and Particle Filter (PF) are good candidates to estimate the location of WMR indoors and outdoors. Unfortunately, wheel-slip of WMR limits the ultimate performance that can be achieved by real-world implementation of the PF, because location estimation systems typically partially rely on the robot heading. A small error in the WMR heading leads to a large error in location estimation of the PF because of its cumulative nature. In order to enhance the tracking and localization performance of the PF in the environments where the main reason for an error in the PF location estimation is angular noise, two methods were used for heading estimation of the WMR (1): Reinforcement Learning (RL) and (2): Location-based Heading Estimation (LHE). Trilateration is applied to DecaWave based ranging system for calculating the probable location of WMR, this noisy location along with PF current mean is used to estimate the WMR heading by using the above two methods. Beside the WMR location calculation, DecaWave based ranging system is also used to update the PF weights. The localization and tracking performance of the PF is significantly improved through incorporating heading error in localization by applying RL and LHE. Desired trajectory information is then used to develop an algorithm for extracting the lateral slip along X-and Y-axis from the PF estimated position of the WMR, the lateral slip along X-and Y-axis is then used to take some corrective measures. Lateral slip information is also used to find the direction along which WMR has to move to get back along the desired trajectory. Simulation results show that our proposed LHE and RL heading estimation methods significantly improve the PF localization and tracking performance on a slippery surface in both indoor and outdoor environments. The simulation results also show that the accurate locations of WMR and desired path information are used to estimate and compensate the lateral slip.

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“…The wheel imprint photograph of the rover contains important information such as wheel motion parameters, soil characteristic parameters and movement status of the rover [1]. Non-contact methods are commonly been used to measure wheel imprint, using instruments such as on-board camera [2] and laser rangefinder [3].…”

Section: Introductionmentioning

confidence: 99%

“…These general methods are mostly relied on the pixel distribution model of image which can be utilized to all kinds of images, and wheel imprint formation mechanism model is not considered; therefore, the results are not accurate. Understanding the mechanism of wheel imprint formation, abstracting the morphology of wheel imprint B Nan Li linan0015@gmail.com 1 and the frequency domain characteristics can help to improve the segmentation precision and efficiency of wheel imprint image.…”

Section: Introductionmentioning

confidence: 99%