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

Content Provider	IEEE Xplore Digital Library
Author	Reina, G. Ishigami, G. Nagatani, K. Yoshida, K.
Copyright Year	2008
Description	Author affiliation: Dept. of Innovation Eng., Univ. of Salento, Lecce (Reina, G.)
Abstract	For a mobile robot it is critical to detect and compensate for slippage, especially when driving in rough terrain environments. Due to its highly unpredictable nature, drift largely affects the accuracy of localization and control systems, even leading, in extreme cases, to the danger of vehicle entrapment with consequent mission failure. This paper presents a novel method for lateral slip estimation based on visually observing the trace produced by the wheels of the robot, during traverse of soft, deformable terrain, as that expected for lunar and planetary rovers. The proposed algorithm uses a robust Hough transform enhanced by fuzzy reasoning to estimate the angle of inclination of the wheel trace with respect to the vehicle reference frame. Any deviation of the wheel trace from the planned path of the robot suggests occurrence of sideslip that can be detected, and more interestingly, measured. This allows one to estimate the actual heading angle of the robot, usually referred to as the slip angle. The details of the various steps of the visual algorithm are presented and the results of experimental tests performed in the field with an all- terrain rover are shown, proving the method to be effective and robust.
Starting Page	486
Ending Page	491
File Size	1497420
Page Count	6
File Format	PDF
ISBN	9781424416462
ISSN	10504729
DOI	10.1109/ROBOT.2008.4543254
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-05-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Wheels Vehicles Robustness Control systems Moon Fuzzy reasoning Extraterrestrial measurements Testing Performance evaluation
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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