Improved dead reckoning using caster wheel sensing on a differentially steered three-wheeled autonomous vehicle
نویسندگان
چکیده
A differentially steered three-wheeled vehicle has proven to be an effective platform for outdoor navigation. Many applications for this vehicle configuration, including planetary exploration and landmine/UXO location, require accurate localization. In spite of known problems, odometry, also called dead reckoning, remains one of the least expensive and most popular methods for localization. This paper presents the results of an investigation into the benefits of instrumenting the rear caster wheel to supplement the drive wheel encoders in odometry. A linear observer is used to fuse the data between the drive wheel encoders and the caster data. This method can also be extended using the standard form of the Kalman filter to allow for noise. Improvements in position estimation in the face of common problems such as slip and dimensional errors are quantified.
منابع مشابه
Improvement of odometry for omnidirectional vehicle using optical flow information
Our research goal is to realize a robust navigation in indoor and outdoor environment for autonomous vehicle. An omnidirectional vehicle driven by four Mecanum wheels was chosen for our research platform. Mecanum wheel has 16 tilted rollers (45 degrees against the direction of wheel rotation) around the wheel, so the vehicle moves omnidirectionally by controlling these wheels independently. How...
متن کاملStability of Three-Wheeled Vehicles with and without Control System
In this study, stability control of a three-wheeled vehicle with two wheels on the front axle, a three-wheeled vehicle with two wheels on the rear axle, and a standard four-wheeled vehicle are compared. For vehicle dynamics control systems, the direct yaw moment control is considered as a suitable way of controlling the lateral motion of a vehicle during a severe driving maneuver. In accorda...
متن کاملCompliant-linkage Kinematic Design for Multi-degree-of-freedom Mobile Robots
Multi-degree-of-freedom (MDOF) vehicles have many potential advantages over conventional (i.e., 2-DOF) vehicles. For example, MDOF vehicles can travel sideways and they can negotiate tight turns more easily. In addition, some MDOF designs provide better payload capability, better traction, and improved static and dynamic stability. However, MDOF vehicles with more than three degrees-of-freedom ...
متن کاملKinematic modeling of wheeled mobile robots
We formulate the kinematic equations-of-motion of wheeled mobile robots incorporating conuentionaI, omnidirectional, and ball wheels. While our approach parallels the kinematic modeling of stationary manipulators, we extend the methodology to accommodate such special characteristics of wheeled mobile robots as multiple closed-link chains, higher-pair contact points between a wheel and a surface...
متن کاملMultiple camera, laser rangefinder, and encoder data fusion for navigation of a differentially steered three-wheeled autonomous vehicle
Virginia Tech is currently developing a new autonomous vehicle as a research platform. This vehicle is being used to investigate techniques in autonomous landmine/UXO detection. In addition, it was entered in the 2000 Intelligent Ground Vehicle Competition. This vehicle senses its surroundings using two (non-stereo) color CCD cameras, a SICK laser range finder, and wheel encoders. The cameras g...
متن کامل