Second-order optimal estimation of slip state for a simple slip-steered vehicle

T. M. Caldwell, T. D. Murphey

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

4 Scopus citations

Abstract

We present a method to optimally estimate when a slip state transition occurs for a slip-steered vehicle. A slip-steered vehicle's contact state with the ground must slip sideways in order for the vehicle to turn. This slipping generates uncertainties for an autonomous controller. These uncertainties can be be reduced if an estimate of when the vehicle switches between slipping and sticking is provided to the controller. We present an estimator that optimally determines when a switch between slipping and sticking occurs by comparing simulations of the slip-steered vehicle with its measured configurations. We demonstrate that steepest descent-based optimization has slow convergence and show how this issue can be rectified by using Newton's Method. This is a primary stress of our paper. The paper concludes with the introduction of an algorithm that uses second-order optimization in a manner that is appropriate for online implementation.

Original languageEnglish (US)
Title of host publication2009 IEEE International Conference on Automation Science and Engineering, CASE 2009
Pages133-139
Number of pages7
DOIs
StatePublished - Nov 12 2009
Event2009 IEEE International Conference on Automation Science and Engineering, CASE 2009 - Bangalore, India
Duration: Aug 22 2009Aug 25 2009

Publication series

Name2009 IEEE International Conference on Automation Science and Engineering, CASE 2009

Other

Other2009 IEEE International Conference on Automation Science and Engineering, CASE 2009
CountryIndia
CityBangalore
Period8/22/098/25/09

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Computer Science Applications
  • Software

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