Improved dead reckoning using caster wheel sensing on a differentially steered three-wheeled autonomous vehicle

David C. Conner; Philip R. Kedrowski; Charles F. Reinholtz; John S. Bay

doi:10.1117/12.417296

2 March 2001 Improved dead reckoning using caster wheel sensing on a differentially steered three-wheeled autonomous vehicle

David C. Conner, Philip R. Kedrowski, Charles F. Reinholtz, John S. Bay

Author Affiliations +

Proceedings Volume 4195, Mobile Robots XV and Telemanipulator and Telepresence Technologies VII; (2001) https://doi.org/10.1117/12.417296
Event: Intelligent Systems and Smart Manufacturing, 2000, Boston, MA, United States

Abstract

A differentially steered three-wheeled vehicle has proven to be an effective platform for outdoor navigation. Many applications for this vehicle configuration, including planetary exploration and landmine/UXO location, require accurate localization. In spite of known problems, odometry, also called dead reckoning, remains one of the least expensive and most popular methods for localization. This paper presents the results of an investigation into the benefits of instrumenting the rear caster wheel to supplement the drive wheel encoders in odometry. A linear observer is used to fuse the data between the drive wheel encoders and the caster data. This method can also be extended using the standard form of the Kalman filter to allow for noise. Improvements in position estimation in the face of common problems such as slip and dimensional errors are quantified.

Citation Download Citation

David C. Conner, Philip R. Kedrowski, Charles F. Reinholtz, and John S. Bay "Improved dead reckoning using caster wheel sensing on a differentially steered three-wheeled autonomous vehicle", Proc. SPIE 4195, Mobile Robots XV and Telemanipulator and Telepresence Technologies VII, (2 March 2001); https://doi.org/10.1117/12.417296

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