Classification-based wheel slip detection and detector fusion for mobile robots on outdoor terrain

This paper introduces a signal-recognition based approach for detecting autonomous mobile robot immobilization on outdoor terrain. The technique utilizes a support vector machine classifier to form class boundaries in a feature space composed of statistics related to inertial and (optional) wheel speed measurements. The proposed algorithm is validated using experimental data collected with an autonomous robot operating in an outdoor environment. Additionally, two detector fusion techniques are proposed to combine the outputs of multiple immobilization detectors. One technique is proposed to minimize false immobilization detections. A second technique is proposed to increase overall detection accuracy while maintaining rapid detector response. The two fusion techniques are demonstrated experimentally using the detection algorithm proposed in this work and a dynamic model-based algorithm. It is shown that the proposed techniques can be used to rapidly and robustly detect mobile robot immobilization in outdoor environments, even in the absence of absolute position information.