Multi-sensor, high speed autonomous stair climbing

Daniel M. Helmick, Stergios I. Roumeliotis, Michael C. McHenry, Larry Matthies

Research output: Chapter in Book/Report/Conference proceedingConference contribution

54 Scopus citations

Abstract

Small, tracked mobile robots designed for general urban mobility have been developed for the purpose of reconnaissance and/or search and rescue missions in buildings and cities. Autonomous stair climbing is a significant capability required for many of these missions. In this paper we present the design and implementation of a new set of estimation and control algorithms that increase the speed and effectiveness of stair climbing. We have developed: (i) a Kalman filter that fuses visual/laser data with inertial measurements and provides attitude estimates of improved accuracy at a high rate, and (ii) a physics based controller that minimizes the heading error and maximizes the effective velocity of the vehicle during stair climbing. Experimental results using a tracked vehicle validate the improved performance of this control and estimation scheme over previous approaches.

Original languageEnglish (US)
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages733-742
Number of pages10
Volume1
StatePublished - Jan 1 2002
Event2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland
Duration: Sep 30 2002Oct 4 2002

Other

Other2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountrySwitzerland
CityLausanne
Period9/30/0210/4/02

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