A vision-based technique for vehicle slip and velocity estimation

Xiaojing Song, Lakmal D. Seneviratne, Kaspar Althoefer, Zibin Song, Shahram Mohseni-Vahed

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

This paper proposes a novel technique to estimate slips and velocities of an unmanned ground vehicle (UGV). A visual odometry sensor looking down the terrain surface is employed to measure the motion of the UGV, by tracking features selected from the terrain surface. The visual odometry sensor can provide motion information even when the terrain surface contains no distinctive features. A sliding mode observer (SMO) based-on a kinematic model is designed to deal with noise and uncertainty of the measurements from the visual odometry sensor, and simultaneously estimate the slip and velocity vectors of the UGV. The non-GPS slip and velocity estimation technique is independent of terrain parameters and robust to noise and uncertainty. Experimental results are given to show that the technique has good potential for vehicle slip and velocity estimation.

Original languageBritish English
Title of host publicationProceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
Edition1 PART 1
DOIs
StatePublished - 2008
Event17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
Duration: 6 Jul 200811 Jul 2008

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
Volume17
ISSN (Print)1474-6670

Conference

Conference17th World Congress, International Federation of Automatic Control, IFAC
Country/TerritoryKorea, Republic of
CitySeoul
Period6/07/0811/07/08

Keywords

  • Autonomous robotic systems
  • Identification and control methods
  • Perception devices and positioning systems

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