Model-Based Wheel Slip Detection for Outdoor Mobile Robots英文清晰版.pdfVIP

2007 IEEE International Conference on ThC11.1 Robotics and Automation Roma, Italy, 10-14 April 2007 Model-Based Wheel Slip Detection for Outdoor Mobile Robots Chris C. Ward and Karl Iagnemma Abstract— This paper introduces a model-based approach to current measurement and terrain-specific parameter tuning. estimating longitudinal wheel slip and detecting immobilized A body of work exists in the automotive community related conditions of autonomous mobile robots operating on outdoor to traction control and anti-lock braking systems (ABS); terrain. A novel tire traction/braking model is presented and however, this work generally applies at significantly higher used to calculate vehicle dynamic forces in an extended Kalman filter framework. Estimates of external forces and robot speeds than is typical for autonomous robots [6],[7]. velocity are derived using measurements from wheel encoders, A large amount of work has utilized Kalman filters with IMU, and GPS. Weak constraints are used to constrain the inertial and absolute measurements to enhance dead evolution of the resistive force estimate based upon physical reckoning and estimate lateral slip [8]-[10]. The notion of an reasoning. Experimental results show the technique accurately effective tire radius, which can indirectly compensate for and rapidly detects robot immobilization conditions while some longitudinal slip, is presented in [11]. None of this providing estimates of the robot’s velocity during normal