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

28 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 publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages486-491
Number of pages6
DOIs
Publication statusPublished - 2008 Sep 18
Externally publishedYes
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: 2008 May 192008 May 23

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

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

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Vision-based estimation of slip angle for mobile robots and planetary rovers'. Together they form a unique fingerprint.

  • Cite this

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