Multi-sensor, high speed autonomous stair climbing
نویسندگان
چکیده
Small, tracked mobile robots designed for general urban mobility have been developed for the purpose of reconnaissance and/or search and rescue missions in buildings and cities. Autonomous stair climbing is a significant capability required for many of these missions. In this paper we present the design and implementation of a new set of estimation and control algorithms that increase the speed and effectiveness of stair climbing. We have developed: (i) a Kalman filter that fuses visual/laser data with inertial measurements and provides attitude estimates of improved accuracy at a high rate, and (ii) a physics based controller that minimizes the heading error and maximizes the effective velocity of the vehicle during stair climbing. Experimental results using a tracked vehicle validate the improved performance of this control and estimation scheme over previous approaches.
منابع مشابه
The International Journal of Robotics Research
In this paper, an algorithm for autonomous stair climbing with a tracked vehicle is presented. The proposed method achieves robust performance under real-world conditions, without assuming prior knowledge of the stair geometry, the dynamics of the vehicle’s interaction with the stair surface, or lighting conditions. The approach relies on fast and accurate estimation of the robot’s heading and ...
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