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Stochastic Wheel-Slip Compensation Based Robot Localization and MappingSIDHARTHAN, R. K.   , KANNAN, R. , SRINIVASAN, S. , BALAS, V. E. |
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Author keywords
error compensation, Gaussian processes, mobile robots, motion estimation, simultaneous localization and mapping
References keywords
systems(9), robot(8), robots(7), mobile(7), system(6), vehicle(5), localization(5), intelligent(5), compensation(5), slip(4)
Blue keywords are present in both the references section and the paper title.
About this article
Date of Publication: 2016-05-31
Volume 16, Issue 2, Year 2016, On page(s): 25 - 32
ISSN: 1582-7445, e-ISSN: 1844-7600
Digital Object Identifier: 10.4316/AECE.2016.02004
Web of Science Accession Number: 000376996100004
SCOPUS ID: 84974839110
Abstract
Wheel slip compensation is vital for building accurate and reliable dead reckoning based robot localization and mapping algorithms. This investigation presents stochastic slip compensation scheme for robot localization and mapping. Main idea of the slip compensation technique is to use wheel-slip data obtained from experiments to model the variations in slip velocity as Gaussian distributions. This leads to a family of models that are switched depending on the input command. To obtain the wheel-slip measurements, experiments are conducted on a wheeled mobile robot and the measurements thus obtained are used to build the Gaussian models. Then the localization and mapping algorithm is tested on an experimental terrain and a new metric called the map spread factor is used to evaluate the ability of the slip compensation technique. Our results clearly indicate that the proposed methodology improves the accuracy by 72.55% for rotation and 66.67% for translation motion as against an uncompensated mapping system. The proposed compensation technique eliminates the need for extro receptive sensors for slip compensation, complex feature extraction and association algorithms. As a result, we obtain a simple slip compensation scheme for localization and mapping. |
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[1] Modeling and Design of a Stair Climbing Wheelchair with Pose Estimation and Adjustment, Sharma, Bibhu, Pillai, Branesh M., Borvorntanajanya, Korn, Suthakorn, Jackrit, Journal of Intelligent & Robotic Systems, ISSN 0921-0296, Issue 3, Volume 106, 2022.
Digital Object Identifier: 10.1007/s10846-022-01765-3 [CrossRef]
[2] A Robust Localization, Slip Estimation, and Compensation System for WMR in the Indoor Environments, Ullah, Zakir, Xu, Zhiwei, Lei, Zhang, Zhang, Libo, Symmetry, ISSN 2073-8994, Issue 5, Volume 10, 2018.
Digital Object Identifier: 10.3390/sym10050149 [CrossRef]
[3] IMU-assisted robotic structured light sensing with featureless registration under uncertainties for pipeline inspection, Alzuhiri, Mohand, Li, Zi, Rao, Adithya, Li, Jiaoyang, Fairchild, Preston, Tan, Xiaobo, Deng, Yiming, NDT & E International, ISSN 0963-8695, Issue , 2023.
Digital Object Identifier: 10.1016/j.ndteint.2023.102936 [CrossRef]
[4] A New Contact Angle Detection Method for Dynamics Estimation of a UGV Subject to Slipping in Rough-Terrain, Ebrahimi, Saeed, Mardani, Arman, Journal of Intelligent & Robotic Systems, ISSN 0921-0296, Issue 3-4, Volume 95, 2019.
Digital Object Identifier: 10.1007/s10846-018-0932-3 [CrossRef]
[5] Map spread factor based confidence weighted average technique for adaptive SLAM with unknown sensor model and noise covariance, Kumar, S. Rakesh, Ramkumar, K., Srinivasan, Seshadhri, 2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC), ISBN 978-1-5090-3342-3, 2016.
Digital Object Identifier: 10.1109/RCTFC.2016.7893405 [CrossRef]
[6] Trajectory tracking control for WMR in the presence of slip, uncertainty and disturbance based on adaptive sliding mode approach, Safarbali, M., Lademakhi, N. Yousefi, Korayem, A. H., 2021 9th RSI International Conference on Robotics and Mechatronics (ICRoM), ISBN 978-1-6654-2094-5, 2021.
Digital Object Identifier: 10.1109/ICRoM54204.2021.9663487 [CrossRef]
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Faculty of Electrical Engineering and Computer Science
Stefan cel Mare University of Suceava, Romania
All rights reserved: Advances in Electrical and Computer Engineering is a registered trademark of the Stefan cel Mare University of Suceava. No part of this publication may be reproduced, stored in a retrieval system, photocopied, recorded or archived, without the written permission from the Editor. When authors submit their papers for publication, they agree that the copyright for their article be transferred to the Faculty of Electrical Engineering and Computer Science, Stefan cel Mare University of Suceava, Romania, if and only if the articles are accepted for publication. The copyright covers the exclusive rights to reproduce and distribute the article, including reprints and translations.
Permission for other use: The copyright owner's consent does not extend to copying for general distribution, for promotion, for creating new works, or for resale. Specific written permission must be obtained from the Editor for such copying. Direct linking to files hosted on this website is strictly prohibited.
Disclaimer: Whilst every effort is made by the publishers and editorial board to see that no inaccurate or misleading data, opinions or statements appear in this journal, they wish to make it clear that all information and opinions formulated in the articles, as well as linguistic accuracy, are the sole responsibility of the author.
