Terrain sensing and estimation for dynamic outdoor mobile robots
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.
| Main Author: | |
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| Other Authors: | |
| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2008
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| Online Access: | http://hdl.handle.net/1721.1/42419 |
| _version_ | 1826188192137609216 |
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| author | Ward, Christopher Charles |
| author2 | Karl Iagnemma. |
| author_facet | Karl Iagnemma. Ward, Christopher Charles |
| author_sort | Ward, Christopher Charles |
| collection | MIT |
| description | Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007. |
| first_indexed | 2024-09-23T07:55:56Z |
| format | Thesis |
| id | mit-1721.1/42419 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T07:55:56Z |
| publishDate | 2008 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/424192019-04-09T15:35:41Z Terrain sensing and estimation for dynamic outdoor mobile robots Ward, Christopher Charles Karl Iagnemma. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Mechanical Engineering. Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007. Includes bibliographical references (p. 120-125). In many applications, mobile robots are required to travel on outdoor terrain at high speed. Compared to traditional low-speed, laboratory-based robots, outdoor scenarios pose increased perception and mobility challenges which must be considered to achieve high performance. Additionally, high-speed driving produces dynamic robot-terrain interactions which are normally negligible in low speed driving. This thesis presents algorithms for estimating wheel slip and detecting robot immobilization on outdoor terrain, and for estimating traversed terrain profile and classifying terrain type. Both sets of algorithms utilize common onboard sensors. Two methods are presented for robot immobilization detection. The first method utilizes a dynamic vehicle model to estimate robot velocity and explicitly estimate longitudinal wheel slip. The vehicle model utilizes a novel simplified tire traction/braking force model in addition to estimating external resistive disturbance forces acting on the robot. The dynamic model is combined with sensor measurements in an extended Kalman filter framework. A preliminary algorithm for adapting the tire model parameters is presented. The second, model-free method takes a signal recognition-based approach to analyze inertial measurements to detect robot immobilization. Both approaches are experimentally validated on a robotic platform traveling on a variety of outdoor terrains. Two detector fusion techniques are proposed and experimentally validated which combine multiple detectors to increase detection speed and accuracy. An algorithm is presented to classify outdoor terrain for high-speed mobile robots using a suspension mounted accelerometer. The algorithm utilizes a dynamic vehicle model to estimate the terrain profile and classifies the terrain based on spatial frequency components of the estimated profile. The classification algorithm is validated using experimental results collected with a commercial automobile driving in real-world conditions. by Christopher Charles Ward. S.M. 2008-09-03T15:36:25Z 2008-09-03T15:36:25Z 2007 2007 Thesis http://hdl.handle.net/1721.1/42419 237802423 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 125 p. application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Ward, Christopher Charles Terrain sensing and estimation for dynamic outdoor mobile robots |
| title | Terrain sensing and estimation for dynamic outdoor mobile robots |
| title_full | Terrain sensing and estimation for dynamic outdoor mobile robots |
| title_fullStr | Terrain sensing and estimation for dynamic outdoor mobile robots |
| title_full_unstemmed | Terrain sensing and estimation for dynamic outdoor mobile robots |
| title_short | Terrain sensing and estimation for dynamic outdoor mobile robots |
| title_sort | terrain sensing and estimation for dynamic outdoor mobile robots |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/42419 |
| work_keys_str_mv | AT wardchristophercharles terrainsensingandestimationfordynamicoutdoormobilerobots |