Simplified power consumption modeling and identification for wheeled skid-steer robotic vehicles on hard horizontal ground

-Mobile robot navigation through natural terrains is a challenging issue with applications such as planetary exploration or search and rescue. This paper proposes navigability assessment of natural terrains scanned from groundbased 3D laser rangefinders. A continuous model of the terrain is obtained as a fuzzy elevation map (FEM). Based on this model, the proposed solution incorporates terrain navigability both in terms of uncertainties of the 3D input data and slope of the fuzzy surface. Moreover, the paper discusses the application of this method for local path planning. For this purpose, the Bug algorithm has been adapted to compute local paths on the navigable region of the FEM. The method has been applied to actual 3D point clouds on two different experimental sites. Abstract-Mobile robot navigation through natural terrains is a challenging issue with applications such as planetary exploration or search and rescue. This paper proposes navigability assessment of natural terrains scanned from ground-based 3D laser rangefinders. A continuous model of the terrain is obtained as a fuzzy elevation map (FEM). Based on this model, the proposed solution incorporates terrain navigability both in terms of uncertainties of the 3D input data and slope of the fuzzy surface. Moreover, the paper discusses the application of this method for local path planning. For this purpose, the Bug algorithm has been adapted to compute local paths on the navigable region of the FEM. The method has been applied to actual 3D point clouds on two different experimental sites.

show abstract

“…The laser sensor is mounted 0.7 m above the ground on the 4-wheel skid-steer mobile robot Quadriga [28] (see Fig. 4).…”

Section: Resultsmentioning

confidence: 99%

Navigability analysis of natural terrains with fuzzy elevation maps from ground-based 3D range scans

Martínez

Mandow

Reina

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

Self Cite

View full text Add to dashboard Cite

show abstract

“…Following the work of [14], a framework for estimating the power usage of skid-steer tracked [15] and wheeled [16] robots was presented. These works calculated ICR locations and optimal terrain parameters on recorded data, whereas the method presented here focuses on the identification of ICR locations and terrain parameters during vehicle operation.…”

Section: Estimation Of Terrain Parameters For Power Modelingmentioning

confidence: 99%

“…These works calculated ICR locations and optimal terrain parameters on recorded data, whereas the method presented here focuses on the identification of ICR locations and terrain parameters during vehicle operation. This section will present the ICR power model of [16] and adapt it to enable estimation of model coefficients.…”

Section: Estimation Of Terrain Parameters For Power Modelingmentioning

confidence: 99%

“…This approach has been applied successfully when ICR locations are learned in post-processing on recorded data [14]. ICR kinematics have also been applied successfully for modeling of power usage for tracked and wheeled skid-steer vehicles [15], [16], but again, terrain parameters relating to power usage are learned through post-process optimization. Recent work presented an approach focused on breaking the model developed by Wong [7] into two parts to improve computation speed [17].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

On-line estimation of vehicle motion and power model parameters for skid-steer robot energy use prediction

Pentzer

Brennan

Reichard

2014

2014 American Control Conference

View full text Add to dashboard Cite

This paper presents a method of estimating skidsteer robot power usage using on-line estimation of terrain and kinematic parameters. For vehicles operating at low speeds on hard, flat surfaces, kinematic models utilizing the instantaneous centers of rotation (ICRs) of the tracks or wheels of a skidsteer vehicle have been shown to provide accurate motion and power use estimation. Previous work has relied on post-process optimization to learn necessary ICR location and terrain information for motion and power modeling. The work presented here utilizes an extended Kalman filter for learning ICR locations and the recursive least squares algorithm for learning terrain-related power model parameters. The algorithms have been implemented on a wheeled skid-steer vehicle, and field test results show good estimation of motion and power usage using no prior terrain information and only knowledge of vehicle geometry and mass distribution, intermittent GPS and heading, and odometry information from the slipping tires/treads.

show abstract

“…3) with a 3D rangefinder built by pitching a Hokuyo UTM-30LX 2D rangefinder. This device has the following specifications: field of view, The laser rangefinder is mounted on the 4-wheel skid-steer mobile robot Quadriga [21], 0.7 m above the ground (see Fig. 4).…”

Section: A Experimental Setupmentioning

confidence: 99%

Collapsible cubes: Removing overhangs from 3D point clouds to build local navigable elevation maps

Reina

Martínez

Mandow

et al. 2014

2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Self Cite

View full text Add to dashboard Cite

Elevation maps offer a compact 2 1 2 dimensional model of terrain surface for navigation in field mobile robotics. However, building these maps from 3D raw point clouds containing overhangs, such as tree canopy or tunnels, can produce useless results. This paper proposes a simple processing of a ground-based point cloud that identifies and removes overhang points that do not constitute an obstacle for navigation while keeping vertical structures such as walls or tree trunks. The procedure uses efficient data structures to collapse unsupported 3D cubes down to the ground. This method has been successfully applied to 3D laser scans taken from a mobile robot in outdoor environments in order to build local elevation maps for navigation. Computation times show an improvement with respect to a previous point-based solution to this problem.

show abstract

Simplified power consumption modeling and identification for wheeled skid-steer robotic vehicles on hard horizontal ground

Cited by 24 publications

References 11 publications

Navigability analysis of natural terrains with fuzzy elevation maps from ground-based 3D range scans

Navigability analysis of natural terrains with fuzzy elevation maps from ground-based 3D range scans

On-line estimation of vehicle motion and power model parameters for skid-steer robot energy use prediction

Collapsible cubes: Removing overhangs from 3D point clouds to build local navigable elevation maps

Contact Info

Product

Resources

About