Visual Contact Angle Estimation and Traction Control for Mobile Robot in Rough-Terrain

2013 ◽  
Vol 74 (3-4) ◽  
pp. 985-997 ◽  
Author(s):  
He Xu ◽  
Xing Liu ◽  
Hu Fu ◽  
Bagus Bhirawa Putra ◽  
Long He
Keyword(s):  
Contact Angle ◽  
Mobile Robot ◽  
Rough Terrain ◽  
Visual Contact ◽  
Angle Estimation ◽  
Traction Control

3-D Scan Matching for Mobile Robot Localization over Rough Terrain

2019 ◽  
Vol 139 (9) ◽  
pp. 1041-1050
Author(s):  
Hiroyuki Nakagomi ◽  
Yoshihiro Fuse ◽  
Hidehiko Hosaka ◽  
Hironaga Miyamoto ◽  
Takashi Nakamura ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Rough Terrain ◽  
Robot Localization ◽  
Scan Matching ◽  
Mobile Robot Localization

Measurement of wheel-terrain contact angle for WMRs on rough terrain using laser scanning sensor

2017 ◽  
Vol 44 (6) ◽  
pp. 798-807 ◽  
Author(s):  
He Xu ◽  
Yan Xu ◽  
Peiyuan Wang ◽  
Hongpeng Yu ◽  
Ozoemena Anthony Ani ◽  
...  
Keyword(s):  
Contact Angle ◽  
Laser Scanning ◽  
Contact Angle Measurement ◽  
Angle Measurement ◽  
Rough Terrain ◽  
Wheeled Mobile Robots ◽  
Wheel Slip ◽  
Content Type ◽  
Terrain Model ◽  
Measurement Approach

Purpose The purpose of this paper is to explore a novel measurement approach for wheel-terrain contact angle using laser scanning sensors based on near-terrain perception. Laser scanning sensors have rarely been applied to the measurement of wheel-terrain contact angle for wheeled mobile robots (WMRs) in previous studies; however, it is an effective way to measure wheel-terrain contact angle directly with the advantages of simple, fast and high accuracy. Design/methodology/approach First, kinematics model for a WMR moving on rough terrain was developed, taking into consideration wheel slip and wheel-terrain contact angle. Second, the measurement principles of wheel-terrain contact angle using laser scanning sensors was presented, including “rigid wheel - rigid terrain” model and “rigid wheel - deformable terrain” model. Findings In the proposed approach, the measurement of wheel-terrain contact angle using laser scanning sensors was successfully demonstrated. The rationality of the approach was verified by experiments on rigid and sandy terrains with satisfactory results. Originality/value This paper proposes a novel, fast and effective wheel-terrain contact angle measurement approach for WMRs moving on both rigid and deformable terrains, using laser scanning sensors.

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