|2/2016 - 4|
Stochastic Wheel-Slip Compensation Based Robot Localization and MappingSIDHARTHAN, R. K. , KANNAN, R. , SRINIVASAN, S. , BALAS, V. E.
|Click to see author's profile on SCOPUS, IEEE Xplore, Web of Science|
|Download PDF (853 KB) | Citation | Downloads: 420 | Views: 1,083|
error compensation, Gaussian processes, mobile robots, motion estimation, simultaneous localization and mapping
systems(9), robot(8), robots(7), mobile(7), system(6), vehicle(5), localization(5), intelligent(5), compensation(5), slip(4)
Blue keywords are present in both the references section and the paper title.
About this article
Date of Publication: 2016-05-31
Volume 16, Issue 2, Year 2016, On page(s): 25 - 32
ISSN: 1582-7445, e-ISSN: 1844-7600
Digital Object Identifier: 10.4316/AECE.2016.02004
Web of Science Accession Number: 000376996100004
SCOPUS ID: 84974839110
Wheel slip compensation is vital for building accurate and reliable dead reckoning based robot localization and mapping algorithms. This investigation presents stochastic slip compensation scheme for robot localization and mapping. Main idea of the slip compensation technique is to use wheel-slip data obtained from experiments to model the variations in slip velocity as Gaussian distributions. This leads to a family of models that are switched depending on the input command. To obtain the wheel-slip measurements, experiments are conducted on a wheeled mobile robot and the measurements thus obtained are used to build the Gaussian models. Then the localization and mapping algorithm is tested on an experimental terrain and a new metric called the map spread factor is used to evaluate the ability of the slip compensation technique. Our results clearly indicate that the proposed methodology improves the accuracy by 72.55% for rotation and 66.67% for translation motion as against an uncompensated mapping system. The proposed compensation technique eliminates the need for extro receptive sensors for slip compensation, complex feature extraction and association algorithms. As a result, we obtain a simple slip compensation scheme for localization and mapping.
|References|||||Cited By «-- Click to see who has cited this paper|
| Jaewon Seo, Hyung Keun Lee, Jang Gyu Lee, Chan Gook Park, "Lever arm compensation for GPS/INS/odometer integrated system", International Journal of Control, Automation, and Systems, vol. 4, no. 2, pp. 247-254, April 2006, |
 R. E. Precup, T. Haidegger, L. Kovacs, "Stable hybrid fuzzy controller-based architecture for robotic telesurgery systems", International Journal of Computational Intelligence and Pattern Recognition (Columbia International Publishing) ISSN 0218-0014, vol. 1, no. 1, pp. 61-76, 2014
 A. Tuncer, M. Yildirim, K. Erkan, "A motion planning system for mobile robots," Advances in Electrical and Computer Engineering, vol.12, no.1, pp.57-62, 2012,
[CrossRef] [Full Text] [Web of Science Times Cited 6] [SCOPUS Times Cited 10]
 C. Purcaru, R. -E. Precup, D. Iercan, L.-O. Fedorovici, R. -C. David, F. Drãgan, "Optimal robot path planning using gravitational search algorithm", International Journal of Artificial Intelligence (CESER Publications), vol. 10, no. S13, pp. 1-20, 2013
 Helmick, D.M., Yang Cheng, Clouse, D., Bajracharya, M., Matthies, L.H., Roumeliotis, S.I., "Slip compensation for a Mars rover," Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on , vol., no., pp.2806,2813, 2-2 Aug. 2005
[CrossRef] [Web of Science Record] [SCOPUS Times Cited 25]
 S. Srinivasan and R. Ayyagari, "Consensus algorithm for robotic agents over packet dropping links", 3rd International Conference on Biomedical Engineering and Informatics (BMEI), Yantai, pp. 2636-2640, 2010,
[CrossRef] [SCOPUS Times Cited 7]
 Silas F. R. Alves, Joao M. Rosario, Humberto Ferasoli Filho, Liz K. A. Rincon and Rosana A. T. Yamasaki, "Conceptual bases of robot navigation modeling, control and applications", Advances in Robot Navigation, ISBN: 978-953-307-346-0, InTech, 2011,
 Rached Dhaouadi, Ahmad Abu Hatab, "Dynamic modelling of differential-drive mobile robots using Lagrange and Newton-Euler methodologies: a unified framework", Dhaouadi and Hatab, Adv Robot Autom 2013, 2:2,
 E. I. Laftchiev, C. M. Lagoa, S. N. Brennan, "Vehicle localization using in-vehicle pitch data and dynamical models," IEEE Transactions on Intelligent Transportation Systems, vol.16, no.1, pp.206,220, Feb. 2015,
[CrossRef] [Web of Science Times Cited 7] [SCOPUS Times Cited 10]
 Kichun Jo, Keounyup Chu, Myoungho Sunwoo, "Interacting multiple model filter-based sensor fusion of GPS with in-vehicle sensors for real-time vehicle positioning," IEEE Transactions on Intelligent Transportation Systems, vol.13, no.1, pp.329,343, March 2012,
[CrossRef] [Web of Science Times Cited 86] [SCOPUS Times Cited 121]
 C. Pozna, R.-E. Precup, P. Földesi, "A novel pose estimation algorithm for robotic navigation", Robotics and Autonomous Systems (Elsevier Science), vol. 63, pp. 10-21, 2015,
[CrossRef] [Web of Science Times Cited 12] [SCOPUS Times Cited 13]
 Z. Duan, Z. Cai, H. Min, "Robust dead reckoning system for mobile robots based on particle filter and raw range scan", Sensors (Switzerland), Vol 14, Iss 9, Pages 16532-16562, 2014,
[CrossRef] [SCOPUS Times Cited 7]
 Jungwook Han, Jeonghong Park, Taeyun Kim, Jinwhan Kim, "Precision navigation and mapping under bridges with an unmanned surface vehicle", Autonomous Robots, Volume 38, Issue 4 , pp 349-362, 2015,
[CrossRef] [Web of Science Times Cited 6] [SCOPUS Times Cited 9]
 N. Y. Ko, T. Kuc, "Fusing range measurements from ultrasonic beacons and a laser range finder for localization of a mobile robot", Sensors (Switzerland), vol. 15, no. 5, pp. 11050-11075, 2015,
[CrossRef] [Web of Science Times Cited 14] [SCOPUS Times Cited 15]
 A. W. Reza, T. T. Rui, A. S. Kausar, "An optimized indoor RFID positioning system using 3D mobility pattern," Advances in Electrical and Computer Engineering, vol.14, no.2, pp.23-28, 2014,
[CrossRef] [Full Text] [Web of Science Times Cited 2] [SCOPUS Times Cited 2]
 Hyoung-Ki Lee, Kiwan Choi, Jiyoung Park, Yeon-Ho Kim, SeokWon Bang, "Improvement of dead reckoning accuracy of a mobile robot by slip detection and compensation using multiple model approach," Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on, vol., no., pp.1140,1147, 22-26 Sept. 2008.
[CrossRef] [Web of Science Times Cited 5] [SCOPUS Times Cited 14]
 J. Jung, H. Lee, H. Myung,"Slip compensation of mobile robots using SVM and IMM", Advances in Intelligent Systems and Computing - Robot Intelligence Technology and Applications 2012, Volume 208, Pages 5-12, 2013,
[CrossRef] [SCOPUS Times Cited 2]
 Wei Jia, Xuan Xiao, Zhihong Deng, "Self-calibration of INS/Odometer integrated system via Kalman filter," Advanced Computational Intelligence (ICACI), 2012 IEEE Fifth International Conference on , vol., no., pp.224,228, 18-20 Oct. 2012
[CrossRef] [SCOPUS Times Cited 4]
 Z. A. Deng, Y. Hu, J. Yu, Z. Na, "Extended Kalman filter for real time indoor localization by fusing WiFi and smartphone inertial sensors", Micromachines Vol 6, pp 523-543 2015,
[CrossRef] [Web of Science Times Cited 22] [SCOPUS Times Cited 27]
 Hyoungki Lee, Jongdae Jung, Kiwan Choi, Jiyoung Park, Hyun Myung, "Fuzzy-logic-assisted interacting multiple model (FLAIMM) for mobile robot localization", Robotics and Autonomous Systems, Vol 60, Issue 12, pp 1592-1606, 2012,
[CrossRef] [Web of Science Times Cited 5] [SCOPUS Times Cited 9]
 D. F. Flippo, D. P. Miller, "Turning efficiency prediction for skid steering via single wheel testing", Journal of Terramechanics, Vol 52, pp 23-29, 2012,
[CrossRef] [Web of Science Times Cited 5] [SCOPUS Times Cited 5]
 J. Jia, X. Wu, W. Lv, Y. Wu, "Research on error compensation technology for vehicular dead reckoning system during accelerating or decelerating", Yadian Yu Shengguang/Piezoelectrics and Acoustooptics, Vol 33, Issue 2, pp 210-213, 2011
 Carlo Arcelli, Gabriella Sanniti di Baja, "Finding local maxima in a pseudo-Euclidian distance transform", Computer Vision, Graphics, and Image Processing, Vol 43, Issue 3, pp 361-367, 1988,
[CrossRef] [Web of Science Times Cited 63] [SCOPUS Times Cited 80]
 Jonah H. Lee, "Statistical modeling and comparison with experimental data of tire-soil interaction for combined longitudinal and lateral slip", Journal of Terramechanics, Vol 58, pp 11-25, 2015,
[CrossRef] [Web of Science Times Cited 6] [SCOPUS Times Cited 6]
 So, H.C., Lin, L., "Linear least squares approach for accurate received signal strength based source localization". IEEE Transactions on Signal Processing, Vol 59, Issue 8, pp. 4035-4040, 2011,
[CrossRef] [Web of Science Times Cited 74] [SCOPUS Times Cited 97]
Web of Science® Citations for all references: 313 TCR
SCOPUS® Citations for all references: 463 TCR
Web of Science® Average Citations per reference: 12 ACR
SCOPUS® Average Citations per reference: 18 ACR
TCR = Total Citations for References / ACR = Average Citations per Reference
We introduced in 2010 - for the first time in scientific publishing, the term "References Weight", as a quantitative indication of the quality ... Read more
Citations for references updated on 2018-06-19 09:45 in 158 seconds.
Note1: Web of Science® is a registered trademark of Clarivate Analytics.
Note2: SCOPUS® is a registered trademark of Elsevier B.V.
Disclaimer: All queries to the respective databases were made by using the DOI record of every reference (where available). Due to technical problems beyond our control, the information is not always accurate. Please use the CrossRef link to visit the respective publisher site.
Faculty of Electrical Engineering and Computer Science
Stefan cel Mare University of Suceava, Romania
All rights reserved: Advances in Electrical and Computer Engineering is a registered trademark of the Stefan cel Mare University of Suceava. No part of this publication may be reproduced, stored in a retrieval system, photocopied, recorded or archived, without the written permission from the Editor. When authors submit their papers for publication, they agree that the copyright for their article be transferred to the Faculty of Electrical Engineering and Computer Science, Stefan cel Mare University of Suceava, Romania, if and only if the articles are accepted for publication. The copyright covers the exclusive rights to reproduce and distribute the article, including reprints and translations.
Permission for other use: The copyright owner's consent does not extend to copying for general distribution, for promotion, for creating new works, or for resale. Specific written permission must be obtained from the Editor for such copying. Direct linking to files hosted on this website is strictly prohibited.
Disclaimer: Whilst every effort is made by the publishers and editorial board to see that no inaccurate or misleading data, opinions or statements appear in this journal, they wish to make it clear that all information and opinions formulated in the articles, as well as linguistic accuracy, are the sole responsibility of the author.