Slippage Estimation of Two Wheeled Mobile Robot Using Recurrent Deep Neural Network

Özçil O., Koku A. B. , Konukseven E. İ.

2019 International Conference on Artificial Intelligence, Robotics and Control, AIRC 2019, Cairo, Egypt, 14 - 16 December 2019, pp.7-13 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1145/3388218.3388233
  • City: Cairo
  • Country: Egypt
  • Page Numbers: pp.7-13
  • Middle East Technical University Affiliated: Yes


Position, velocity and acceleration information are important for mobile robots. Due to the wheel slippages, encoder data may not be reliable and IMU data also contains a cumulative error. Errors of inertial measurements are accumulated over velocity and position estimates and as time increases, these errors grow higher. Due to robot hardware and the operating surface, ground truth may not be available. In this work recurrent deep neural network is proposed in order to reduce the error in speed and yaw angle estimates coming from encoder and IMU data. Neural networks are commonly used to capture the behavior of linear and non-linear systems. Since ground-wheel interaction forces are modeled with non-linear models such as the Magic formula and determining parameters of those models require time and test set-ups, there is a need for simpler methods to model the behavior of simple robots. Neural networks could be used to model non-linear systems. In this work, a recurrent deep neural network is proposed to estimate the speed and yaw angle of a two-wheeled differentially driven mobile robot. Using the information coming from the camera positioned above the test area as ground truth, the network is trained. After that, the output of the network is recorded in the absence of ground truth information in the network. Finally, the performance of the network is evaluated using network output, sensor data calculation, and ground truth.