A method is presented for using an extended Kalman filter with state noise compensation to estimate the trajectory, orientation, and coefficients of friction for a small-scale robotic tracked vehicle. The ultimate goal of the method is to enable terrain property estimation particularly during laboratory and field-testing utilizing onboard sensor data and/or other sources. A methodology is described that relies on kinematic and dynamic models for skid-steering, as well as tractive force models parameterized by key soil parameters. Favorable results for estimating coefficients of friction are presented based on experimental data collected for laboratory and field testing with an iRobot® PackBot™. Preliminary results confirm the dependence of coefficients of friction on vehicle trajectory turning radius and velocity.
Skip Nav Destination
ASME 2010 Dynamic Systems and Control Conference
September 12–15, 2010
Cambridge, Massachusetts, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4418-2
PROCEEDINGS PAPER
Estimating Traction Coefficients of Friction for Small-Scale Robotic Tracked Vehicles Available to Purchase
Tehmoor M. Dar,
Tehmoor M. Dar
University of Texas at Austin, Austin, TX
Search for other works by this author on:
Raul G. Longoria
Raul G. Longoria
University of Texas at Austin, Austin, TX
Search for other works by this author on:
Tehmoor M. Dar
University of Texas at Austin, Austin, TX
Raul G. Longoria
University of Texas at Austin, Austin, TX
Paper No:
DSCC2010-4228, pp. 157-164; 8 pages
Published Online:
January 25, 2011
Citation
Dar, TM, & Longoria, RG. "Estimating Traction Coefficients of Friction for Small-Scale Robotic Tracked Vehicles." Proceedings of the ASME 2010 Dynamic Systems and Control Conference. ASME 2010 Dynamic Systems and Control Conference, Volume 2. Cambridge, Massachusetts, USA. September 12–15, 2010. pp. 157-164. ASME. https://doi.org/10.1115/DSCC2010-4228
Download citation file:
28
Views
Related Proceedings Papers
Related Articles
Global Positioning System (GPS): A Low-Cost Velocity Sensor for Correcting Inertial Sensor Errors on Ground Vehicles
J. Dyn. Sys., Meas., Control (June,2004)
Ground Reaction Force Estimation in Prosthetic Legs With Nonlinear Kalman Filtering Methods
J. Dyn. Sys., Meas., Control (November,2017)
Extended Kalman Filter for Stereo Vision-Based Localization and Mapping Applications
J. Dyn. Sys., Meas., Control (March,2018)
Related Chapters
Real-Time Prediction Using Kernel Methods and Data Assimilation
Intelligent Engineering Systems through Artificial Neural Networks
An Integrated Safety and Reliability Program for Systems of Traction Vehicles (PSAM-0184)
Proceedings of the Eighth International Conference on Probabilistic Safety Assessment & Management (PSAM)
Vehicle Stability Enhancement by Simultaneous Traction and Braking Control in Vehicles Utilizing Active Differentials
International Conference on Mechanical and Electrical Technology, 3rd, (ICMET-China 2011), Volumes 1–3