Cart (Loading....) | Create Account
Close category search window

Proprioceptive Navigation, Slip Estimation and Slip Control for Autonomous Wheeled Mobile Robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Seyr, M. ; Inst. of Mech. & Mechatronics, Vienna Univ. of Technol. ; Jakubek, S.

For a two-wheeled differentially driven mobile robot a navigation and slip control algorithm is developed. The presented concept for purely proprioceptive navigation combines state estimation via extended Kalman filter from inertial sensor data (i.e. gyro and acceleration sensors) and odometric measurements (i.e. wheel angular encoders). The advantages of both types of sensors are exploited by selective mixing. Tangential slip detection and side-slip angle measurement enable slip control by transiently overriding a pre-planned trajectory. Experimental results demonstrating the performance of the proposed system are presented

Published in:

Robotics, Automation and Mechatronics, 2006 IEEE Conference on

Date of Conference:

Dec. 2006

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.