Step-height detection for the Umbrella Wheel stair-climber using model prediction

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Abstrakt

This paper presents the design of a stair-height estimator for a stair-climbing vehicle equipped with so-called Umbrella Wheels [1]. We first introduce a hybrid model of the wheel, containing both the continuous-time behavior of the wheel when rolling, together with its discrete-time nature due to the impact on the steps of the stairs. This model is then combined with the measured angle of the wheel (the only needed sensor/measurement) to obtain an estimation of the contact with a stair, which is in turn used to estimate the stair height. Simulation are presented to illustrate the potential of the approach.
OriginalsprogEngelsk
Titel2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
ForlagIEEE
Publikationsdato3. sep. 2018
Sider1098-1105
ISBN (Trykt)978-1-5386-1855-4
ISBN (Elektronisk)978-1-5386-1854-7
DOI
StatusUdgivet - 3. sep. 2018
Begivenhed2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics - University of Auckland, Auckland, New Zealand
Varighed: 9. jul. 201812. jul. 2018
http://aim2018.org/

Konference

Konference2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
LokationUniversity of Auckland
LandNew Zealand
ByAuckland
Periode09/07/201812/07/2018
Internetadresse

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