Terrain Adaptive Odometry for Mobile Skid-steer Robots

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F13%3A00212530" target="_blank" >RIV/68407700:21230/13:00212530 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/ICRA.2013.6631247" target="_blank" >http://dx.doi.org/10.1109/ICRA.2013.6631247</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRA.2013.6631247" target="_blank" >10.1109/ICRA.2013.6631247</a>

Result language
angličtina
Original language name
Terrain Adaptive Odometry for Mobile Skid-steer Robots
Original language description
This paper proposes a novel approach to improving precision and reliability of odometry of skid-steer mobile robots by means inspired by robotic terrain classification (RTC). In contrary to standard RTC approaches we do not provide human labeled discreteterrain categories but we classify the terrain directly by the values of coefficients correcting the robot's odometry. Hence these coefficients make the odometry model adaptable to the terrain type due to inherent slip compensation. Estimation of thesecorrection coefficients is based on feature extraction from the vibration data measured by an inertial measurement unit and regression function trained offline. Statistical features from the time domain, frequency domain, and wavelet features were explored and the best were automatically selected. To provide ground truth trajectory for the purpose of offline training a portable overhead camera tracking system was developed. Experimental evaluation on rough outdoor terrain proved 67.9 a 7
Czech name
—
Czech description
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Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2013
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
ICRA2013: Proceedings of 2013 IEEE International Conference on Robotics and Automation
ISBN
978-1-4673-5641-1
ISSN
1050-4729
e-ISSN
—
Number of pages
6
Pages from-to
4706-4711
Publisher name
IEEE
Place of publication
Piscataway
Event location
Karlsruhe
Event date
May 6, 2013
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000337617304109

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