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

Giulio Reina, Genya Ishigami, Keiji Nagatani, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

27 Citations (Scopus)

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 allterrain rover are shown, proving the method to be effective and robust.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages486-491
Number of pages6
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: 2008 May 192008 May 23

Other

Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
CountryUnited States
CityPasadena, CA
Period08/5/1908/5/23

Fingerprint

Mobile robots
Wheels
Robots
Hough transforms
Control systems

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Reina, G., Ishigami, G., Nagatani, K., & Yoshida, K. (2008). Vision-based estimation of slip angle for mobile robots and planetary rovers. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 486-491). [4543254] https://doi.org/10.1109/ROBOT.2008.4543254

Vision-based estimation of slip angle for mobile robots and planetary rovers. / Reina, Giulio; Ishigami, Genya; Nagatani, Keiji; Yoshida, Kazuya.

Proceedings - IEEE International Conference on Robotics and Automation. 2008. p. 486-491 4543254.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Reina, G, Ishigami, G, Nagatani, K & Yoshida, K 2008, Vision-based estimation of slip angle for mobile robots and planetary rovers. in Proceedings - IEEE International Conference on Robotics and Automation., 4543254, pp. 486-491, 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, Pasadena, CA, United States, 08/5/19. https://doi.org/10.1109/ROBOT.2008.4543254
Reina G, Ishigami G, Nagatani K, Yoshida K. Vision-based estimation of slip angle for mobile robots and planetary rovers. In Proceedings - IEEE International Conference on Robotics and Automation. 2008. p. 486-491. 4543254 https://doi.org/10.1109/ROBOT.2008.4543254
Reina, Giulio ; Ishigami, Genya ; Nagatani, Keiji ; Yoshida, Kazuya. / Vision-based estimation of slip angle for mobile robots and planetary rovers. Proceedings - IEEE International Conference on Robotics and Automation. 2008. pp. 486-491
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