A Dynamic-Model-Based Wheel Slip Detector for Mobile Robots on Outdoor Terrain

  title={A Dynamic-Model-Based Wheel Slip Detector for Mobile Robots on Outdoor Terrain},
  author={Chris C. Ward and Karl Iagnemma},
  journal={IEEE Transactions on Robotics},
This paper introduces a model-based approach to estimating longitudinal wheel slip and detecting immobilized conditions of autonomous mobile robots operating on outdoor terrain. A novel tire traction/braking model is presented and used to calculate vehicle dynamic forces in an extended Kalman filter framework. Estimates of external forces and robot velocity are derived using measurements from wheel encoders, inertial measurement unit, and GPS. Weak constraints are used to constrain the… CONTINUE READING
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Theory of Ground Vehicles

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