Work

Efficient Attitude Estimation for Mobile Wheeled Robots Using Elevation Maps

Year: 2025

Type: article

Abstract: Ensuring the dynamic stability of a wheeled robot in off-road navigation requires continuous state monitoring to anticipate risks such as slipping, skidding, or overturning. While proprioceptive sensors can monitor the robot’s state, fully predicting it remains challenging since its variables depend on robot-terrain interaction. This work aims to propose a direct geometric method to estimate the robot’s attitude by approximating wheel-ground contact with circles and leveraging an elevation map. Our approach is intuitive, straightforward to implement, precise, and computationally efficient. Experimental results, both in simulation and using a real robotic platform, validate its effectiveness.

Source: IFAC-PapersOnLine

DOI: 10.1016/j.ifacol.2025.07.011

Authors: Charifou Orou Mousse, Mohamed Benrabah, Dieumet Denis, François Marmoiton, Roland Chapuis

Institutions: Centre National de la Recherche Scientifique, Institut Pascal, Université Clermont Auvergne, Clermont Auvergne INP

Language: English

Topic: Robotics and Sensor-Based Localization

Subfield: Aerospace Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: diamond

Funder: Association Nationale de la Recherche et de la Technologie

OpenAlex ID: W4412967418

FWCI:

Cites: 9

Cited by:

Related to: 10