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Experimental Validation of Structured Receding Horizon Estimation and Control for Mobile Ground Robot Slip Compensation

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Field and Service Robotics

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 16))

Abstract

To achieve high-accuracy tracking performance for wheeled mobile robots in spatially varying terrain conditions, it is necessary to estimate both the robot’s state and the slip conditions of the environment to a high degree of precision. The receding horizon estimation and control (RHEC) framework presents a systematic, adaptive optimisation approach to this problem, to which our prior work proposed a structured blocking (SB) extension to address performance limitations for motion both at high speeds and over varying terrain. In this work, we validate these results in a series of preliminary field experiments with the Swagbot platform, demonstrating performance improvements in position tracking of up to 7%, and up to 13% for speed tracking at speeds of 1.5 and 2.5 m/s.

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Author information

Authors and Affiliations

  1. Australian Centre for Field Robotics, The University of Sydney, Sydney, NSW, 2050, Australia

    Nathan D. Wallace, He Kong, Andrew J. Hill & Salah Sukkarieh

Authors
  1. Nathan D. Wallace
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  2. He Kong
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  3. Andrew J. Hill
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  4. Salah Sukkarieh
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Corresponding author

Correspondence to Nathan D. Wallace .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, Keio University, Yokohama, Kanagawa, Japan

    Genya Ishigami

  2. Department of Aerospace Engineering, Tohoku University, Sendai, Miyagi, Japan

    Kazuya Yoshida

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Wallace, N.D., Kong, H., Hill, A.J., Sukkarieh, S. (2021). Experimental Validation of Structured Receding Horizon Estimation and Control for Mobile Ground Robot Slip Compensation. In: Ishigami, G., Yoshida, K. (eds) Field and Service Robotics. Springer Proceedings in Advanced Robotics, vol 16. Springer, Singapore. https://doi.org/10.1007/978-981-15-9460-1_29

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