This paper presents the design of a stair-height estimator for a stair-climbing vehicle equipped with so-called Umbrella Wheels . 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.
|Titel||2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)|
|Publikationsdato||3 sep. 2018|
|ISBN (Trykt)||978-1-5386-1854-7, 978-1-5386-1855-4|
|Status||Udgivet - 3 sep. 2018|
- Teknik, ingeniørvidenskab og IT