TY - GEN
T1 - Path following control for tracked vehicles based on slip-compensating odometry
AU - Endo, Daisuke
AU - Okada, Yoshito
AU - Nagatani, Keiji
AU - Yoshida, Kazuya
PY - 2007/12/1
Y1 - 2007/12/1
N2 - Tracked vehicles have the advantage of stable locomotion on uneven terrain, and, as a result, such mechanisms are used for locomotion on outdoor robots, including those used for search and rescue. However, such mechanisms always slip when a tracked vehicle follows a curve, and the slippage generates large accumulated positioning errors in the vehicle compared with conventional wheeled mobile robots. To improve the accuracy of the odometry and enable a path-following control, the estimation of the track slippage is essential. In this paper, we propose an improved method of odometry for tracked vehicles to follow a straight line or a curve. In this method, the vehicle estimates the slip ratios using two encoders (attached to the actuators) and a gyro-sensor. Based on the improved odometry, the path-following control of tracked vehicles is significantly improved. The validity of the method was confirmed with experiments involving our tracked vehicle on several types of surfaces.
AB - Tracked vehicles have the advantage of stable locomotion on uneven terrain, and, as a result, such mechanisms are used for locomotion on outdoor robots, including those used for search and rescue. However, such mechanisms always slip when a tracked vehicle follows a curve, and the slippage generates large accumulated positioning errors in the vehicle compared with conventional wheeled mobile robots. To improve the accuracy of the odometry and enable a path-following control, the estimation of the track slippage is essential. In this paper, we propose an improved method of odometry for tracked vehicles to follow a straight line or a curve. In this method, the vehicle estimates the slip ratios using two encoders (attached to the actuators) and a gyro-sensor. Based on the improved odometry, the path-following control of tracked vehicles is significantly improved. The validity of the method was confirmed with experiments involving our tracked vehicle on several types of surfaces.
UR - http://www.scopus.com/inward/record.url?scp=51349083663&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51349083663&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399228
DO - 10.1109/IROS.2007.4399228
M3 - Conference contribution
AN - SCOPUS:51349083663
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2871
EP - 2876
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -