NDLI: Relaxed optimization for mode estimation in skid steering

Content Provider	IEEE Xplore Digital Library
Author	Caldwell, T.M. Murphey, T.D.
Copyright Year	2010
Description	Author affiliation: Northwestern Univ., USA (Caldwell, T.M.; Murphey, T.D.)
Abstract	Skid-steered vehicles, by design, must skid in order to maneuver. The skidding causes the vehicle to behave discontinuously as well as introduces complications to the observation of the vehicle's state, both of which affect a controller's performance. This paper addresses estimation of contact state by applying switched system optimization to estimate skidding properties of the skid-steered vehicle. In order to treat the skid-steered vehicle as a switched system, the vehicle's ground interaction is modeled using Coulomb friction, thereby partitioning the system dynamics into four distinct modes, one for each combination of the forward and back wheel pairs sticking or skidding. Thus, as the vehicle maneuvers, the system propagates over some mode sequence, transitioning between modes over some set of switching times. This paper presents a technique for estimating a mode sequence by optimizing a relaxation of an infinite dimensional representation of switched systems. The switching times themselves may then be estimated using switching time optimization techniques.
Starting Page	5423
Ending Page	5428
File Size	613632
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509356
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wheels Switched systems Friction Uncertainty State estimation Land vehicles Road vehicles Vehicle dynamics Vehicle driving Robotics and automation
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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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