Estimation and compensation of slippage based on laser-based odometry

Abstract

The project aimed to compensate for the slippage exhibited by a wheeled mobile robot in an off-road environment, in a trajectory following context. To do that, the odometry of the robot was calculated based on laser scan measurements. The slippage angle was estimated as an extra state using a state-estimator, the final controller was done using the back-stepping technique. This manuscript provides a literature review of this problem and presents some of the previous solutions. It discusses the choice made during the project and the assessment criteria. Finally, it provides a discussion of the results and possible improvements.