Download 3D-Position Tracking and Control for All-Terrain Robots by Pierre Lamon PDF

By Pierre Lamon

Rough terrain robotics is a quick evolving box of study and many attempt is deployed in the direction of permitting a better point of autonomy for outside cars. This booklet demonstrates how the accuracy of 3D place monitoring may be more advantageous via contemplating rover locomotion in tough terrain as a holistic challenge. even supposing the choice of applicable sensors is important to thoroughly song the rover’s place, it isn't the one element to think about. certainly, using an unadapted locomotion notion significantly impacts the sign to noise ratio of the sensors, which ends up in negative movement estimates. during this paintings, a mechanical constitution permitting delicate movement throughout stumbling blocks with constrained wheel slip is used. particularly, it allows using odometry and inertial sensors to enhance the location estimation in tough terrain. a mode for computing 3D movement increments in keeping with the wheel encoders and chassis country sensors is built. since it debts for the kinematics of the rover, this technique offers greater effects than the normal procedure. To extra enhance the accuracy of the location monitoring and the rover’s mountaineering functionality, a controller minimizing wheel slip is constructed. The set of rules runs on-line and will be tailored to any type of passive wheeled rover. ultimately, sensor fusion utilizing 3D-Odometry, inertial sensors and visible movement estimation in line with stereovision is gifted. The experimental effects show how every one sensor contributes to extend the accuracy and robustness of the 3D place estimation.

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With such a wheel, the contact angle is estimated simply using a weighted mean of the proximity sensor signals. In this way a smooth transition of the measured angle is obtained even when sharp slope changes are encountered. In Fig. 15b, the force on the tire is transferred from vertical to horizonal as the wheel climbs the step in a continuous manner. The weighted mean translates this behavior in the wheel-ground contact estimation. There are at least two other advantages of including deflection sensors in the wheels: • improvement of the 3D-Odometry accuracy: a) a direct measurement provides better estimates of the contact angles; b) the sensors measure the effective wheel radii, which are required inputs for 3D-Odometry • improvement of the controller performance: the deflection of the wheel at a given contact point is an image of the applied force at that point.

5 Wheel-Ground Contact Angles The contact angles between the wheels and the ground are key parameters required for traction optimization algorithms. There are different ways of determining these angles. The method presented in Chapter 3 and the one described in [34] are similar because they both consider the displacement and velocity of each wheel for computing the contact angles. The accuracy of the estimation provided by such methods strongly depends on wheel slip and terrain profile. In particular, no estimation can be computed when the rover is at stand-still and poor results are obtained in slowly changing terrain profiles.

Cntrl. for All-Terrain Robots, STAR 43, pp. 21–32, 2008. com 22 3D-Odometry method. The approach works well only if the environment does not comprise too many slope discontinuities. Indeed, the pose estimation error grows quickly during transitions because it is assumed that the rover is locally moving in a plane. In rough terrain, this assumption is not appropriate and the transitions problem must be addressed properly. Odometry based on vehicle kinematics and wheel encoders are addressed in [34, 9].

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