3D-Position Tracking and Control for All-Terrain Robots

  • Authors
  • Pierre Lamon
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 43)

Table of contents

  1. Front Matter
  2. Pierre Lamon
    Pages 1-5
  3. Pierre Lamon
    Pages 7-19
  4. Pierre Lamon
    Pages 21-32
  5. Pierre Lamon
    Pages 33-51
  6. Pierre Lamon
    Pages 53-79
  7. Pierre Lamon
    Pages 81-82
  8. Pierre Lamon
    Pages 91-92
  9. Pierre Lamon
    Pages 93-95
  10. Pierre Lamon
    Pages 97-98
  11. Back Matter

About this book

Introduction

Rough terrain robotics is a fast evolving field of research and a lot of effort is deployed towards enabling a greater level of autonomy for outdoor vehicles. This book demonstrates how the accuracy of 3D position tracking can be improved by considering rover locomotion in rough terrain as a holistic problem. Although the selection of appropriate sensors is crucial to accurately track the rover’s position, it is not the only aspect to consider. Indeed, the use of an unadapted locomotion concept severely affects the signal to noise ratio of the sensors, which leads to poor motion estimates. In this work, a mechanical structure allowing smooth motion across obstacles with limited wheel slip is used. In particular, it enables the use of odometry and inertial sensors to improve the position estimation in rough terrain. A method for computing 3D motion increments based on the wheel encoders and chassis state sensors is developed. Because it accounts for the kinematics of the rover, this method provides better results than the standard approach. To further improve the accuracy of the position tracking and the rover’s climbing performance, a controller minimizing wheel slip is developed. The algorithm runs online and can be adapted to any kind of passive wheeled rover. Finally, sensor fusion using 3D-Odometry, inertial sensors and visual motion estimation based on stereovision is presented. The experimental results demonstrate how each sensor contributes to increase the accuracy and robustness of the 3D position estimation.

Keywords

Localization Locomotion Concepts Motion Control Robot Architecture Rover Sensor Tracking algorithms autonom kinematics robot robotics rough terrain

Bibliographic information

  • DOI https://doi.org/10.1007/978-3-540-78287-2
  • Copyright Information Springer-Verlag Berlin Heidelberg 2008
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering
  • Print ISBN 978-3-540-78286-5
  • Online ISBN 978-3-540-78287-2
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X