Abstract
Improvement of dead reckoning accuracy is essential for robotic localization system and has been intensively studied. However, existing solutions cannot provide accurate positioning when a robot suffers from changing dynamics such as wheel slip. In this paper, we propose an interacting multiple model (IMM) framework to detect and compensate for wheel slip. Firstly, two different types of extended Kalman filter (EKF) are designed to consider both no-slip and slip dynamics of mobile robots. Then a support vector machine (SVM) for slip estimation is constructed using real world training data. The trained model is utilized along with the two EKFs in the IMM framework. The approach is evaluated with experiments and the results show that the proposed approach improves positioning and slip compensation compared to the conventional approach.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Ojeda, L., Borenstein, J.: FLEXnav: Fuzzy Logic Expert Rule-based Position Estimation for Mobile Robots on Rugged Terrain. In: Proc. of ICRA, pp. 317–322 (2002)
Myung, H., Lee, H., Choi, K., Bang, S., Lee, Y., Kim, S.: Constrained Kalman Filter for Mobile Robot Localization with Gyroscope. In: Proc. of IROS, pp. 442–447 (2006)
Lee, H., Choi, K., Park, J., Kim, Y., Bang, S.: Improvement of dead reckoning accuracy of a mobile robot by slip detection and compensation using multiple model approach. In: Proc. of IROS, pp. 1140–1147 (2008)
Bar-Shalom, Y., Li, X., Kirubarajan, T.: Estimation with applications to tracking and navigation. John Wiley & Sons, Inc. (2001)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Jung, J., Lee, HK., Myung, H. (2013). Slip Compensation of Mobile Robots Using SVM and IMM. In: Kim, JH., Matson, E., Myung, H., Xu, P. (eds) Robot Intelligence Technology and Applications 2012. Advances in Intelligent Systems and Computing, vol 208. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37374-9_1
Download citation
DOI: https://doi.org/10.1007/978-3-642-37374-9_1
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-37373-2
Online ISBN: 978-3-642-37374-9
eBook Packages: EngineeringEngineering (R0)