366 IEEE TRANSACTIONS ON ROBOTICS, VOL. （366年IEEE机器人,卷。）.pdfVIP

366 IEEE TRANSACTIONS ON ROBOTICS, VOL. 22, NO. 2, APRIL 2006 Current-Based Slippage Detection and Odometry Correction for Mobile Robots and Planetary Rovers Lauro Ojeda, Member, IEEE, Daniel Cruz, Member, IEEE, Giulio Reina, and Johann Borenstein, Senior Member, IEEE Abstract— This paper introduces a novel method for wheel-slip- the opposite of “slipping”) [1]. However, on soft, sandy, rolling page detection and correction based on motor current measure- terrain, all of the robot’s wheels are likely to slip simultaneously. ments. Our proposed method estimates wheel slippage from motor We refer to this condition as “all-wheel slippage” (AWS). current measurements, and adjusts encoder readings affected by wheel slippage accordingly. The correction of wheel slippage based The extent and nature of AWS depend on many factors, such on motor currents works only in the direction of motion, but not as soil characteristics, terrain inclination, load, vehicle config- laterally, and it requires some knowledge of the terrain. However, uration, kinematic incompatibility [2], and a number of other this knowledge does not have to be provided ahead of time by conditions. The interaction between wheels and terrain has been human operators. Rather, we propose three tuning techniques for the subject of several studies. Perhaps the best known and most determining relevant terrain parameters automatically, in real time, and during motion over unknown terrain. Two of the tuning widely cited work is that of Bekker [3]–[5] and Wong [6]. Some techniques require position ground truth (i.e., GPS)