TY - GEN
T1 - A vision-based technique for vehicle slip and velocity estimation
AU - Song, Xiaojing
AU - Seneviratne, Lakmal D.
AU - Althoefer, Kaspar
AU - Song, Zibin
AU - Mohseni-Vahed, Shahram
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
KW - Autonomous robotic systems
KW - Identification and control methods
KW - Perception devices and positioning systems
UR - http://www.scopus.com/inward/record.url?scp=84893495209&partnerID=8YFLogxK
U2 - 10.3182/20080706-5-KR-1001.2698
DO - 10.3182/20080706-5-KR-1001.2698
M3 - Conference contribution
AN - SCOPUS:84893495209
SN - 9783902661005
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
BT - Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
T2 - 17th World Congress, International Federation of Automatic Control, IFAC
Y2 - 6 July 2008 through 11 July 2008
ER -