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REPARTI Seminars


The CerVIM Seminars, Université Laval are held on Fridays at 11:00 a.m.
Please see the program for more details.
Dec 11 2020 11:45AM
Seminar
CeRVIM Webinar: Semi-automated inspection and monitoring system of tunnels water ingress

 

 

 

REPARTI

MIVIM

Nov 20 2020 11:00AM

Dominic Baril
Norlab (Northern Robotics Laboratory)
Dép. d’informatique et de génie logiciel, Université Laval

CeRVIM Webinar: Evaluation of Skid-Steering Kinematic Models for Subarctic Environments



Abstract

In subarctic and arctic areas, large and heavy skid-steered robots are preferred for their robustness and ability to operate on difficult terrain. State estimation, motion control and path planning for these robots rely on accurate odometry models based on wheel velocities. However, the state-of-the-art odometry models for skid-steer mobile robots (SSMRs) have usually been tested on relatively lightweight platforms. In this paper, we focus on how these models perform when deployed on a large and heavy (590 kg) SSMR. We collected more than 2 km of data on both snow and concrete. We compare the ideal differential-drive, extended differential-drive, radius-of-curvature-based, and full linear kinematic models commonly deployed for SSMRs. Each of the models is fine-tuned by searching their optimal parameters on both snow and concrete. We then discuss the relationship between the parameters, the model tuning, and the final accuracy of the models.

The presentation will be given in English and the slides will be in English.


Zoom Meeting
To obtain the Zoom meeting web link, please contact:
Annette.Schwerdtfeger@gel.ulaval.ca




     
   
   

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