{"id":{"repo_id":"queens","oai_identifier":"oai:queensu.scholaris.ca:1974/34520"},"canonical_url":"https://search.dev.ndltd.org/etd/queens/oai:queensu.scholaris.ca:1974/34520","repository":{"repo_id":"queens","name":"Queens University","base_url":"https://qspace.library.queensu.ca/server/oai/request"},"display":{"title":"Slip-Correction Methods for Improved Dead Reckoning in Autonomous Wheeled Robots","abstract":"This work compares methods for improving the dead-reckoning capabilities of a mobile robot in the presence of longitudinal slip. They were evaluated using a standardized test of driving in a 140-centimetre square. Testing was conducted on high-friction rubber and low-friction artificial ice surfaces, with a motion-capture system providing ground-truth data for evaluation. Results were both assessed visually, and using RMSE of the motion-captured path against the desired path. A custom-designed robot served as a standardized hardware platform for testing. Five methods were studied. First, an uncorrected method, measuring only odometry and incorporating a lateral-position correction and wheel-velocity control, showed poor path-following performance over a 140 cm square path, with RMSE values of 48.5 cm on rubber and 45.8 cm on ice, despite tuning. The results of this method were used as the benchmark. Second, a current-slip method, correlated motor current to velocity loss due to slip, achieved RMSE values of 22.2 cm on rubber and 30.9 cm on ice. Third, a torque-slip method, which incorporated torque measurements instead, showed little improvement on the uncorrected method, with RMSE values of 43.2 cm on rubber and 53.5 cm on ice. Fourth, by using a current-slip-ice method that correlates data that is specific to ice, RMSE values as low as 11.9 cm were achieved. However, the exact corrected path showed variability, with a coefficient of variation of 25% across three runs. Fifth, the equivalent test carried out for torque, the torque-slip-ice method yielded almost no improvement, with an RMSE value on ice of 52.7 cm. In summary, the current-slip method showed the best improvement in performance under the conditions tested. These findings highlight the potential of a current-slip method for mobile robotic navigation in low-friction environments, with implications for future research in mixed and uneven terrain.","abstract_html":"This work compares methods for improving the dead-reckoning capabilities of a mobile robot in the presence of longitudinal slip. They were evaluated using a standardized test of driving in a 140-centimetre square. Testing was conducted on high-friction rubber and low-friction artificial ice surfaces, with a motion-capture system providing ground-truth data for evaluation. Results were both assessed visually, and using RMSE of the motion-captured path against the desired path. A custom-designed robot served as a standardized hardware platform for testing. Five methods were studied. First, an uncorrected method, measuring only odometry and incorporating a lateral-position correction and wheel-velocity control, showed poor path-following performance over a 140 cm square path, with RMSE values of 48.5 cm on rubber and 45.8 cm on ice, despite tuning. The results of this method were used as the benchmark. Second, a current-slip method, correlated motor current to velocity loss due to slip, achieved RMSE values of 22.2 cm on rubber and 30.9 cm on ice. Third, a torque-slip method, which incorporated torque measurements instead, showed little improvement on the uncorrected method, with RMSE values of 43.2 cm on rubber and 53.5 cm on ice. Fourth, by using a current-slip-ice method that correlates data that is specific to ice, RMSE values as low as 11.9 cm were achieved. However, the exact corrected path showed variability, with a coefficient of variation of 25% across three runs. Fifth, the equivalent test carried out for torque, the torque-slip-ice method yielded almost no improvement, with an RMSE value on ice of 52.7 cm. In summary, the current-slip method showed the best improvement in performance under the conditions tested. These findings highlight the potential of a current-slip method for mobile robotic navigation in low-friction environments, with implications for future research in mixed and uneven terrain.","abstract_has_math":false,"creators":["Diab, Jude"],"institution":null,"degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Mechanical and Materials Engineering","school":null,"contributors":[],"advisors":["Surgenor, Brian"],"committee_chairs":[],"committee_members":[],"year":2025,"date_issued":"2025-05-02","date_published":"2025-05-02","updated_at":"2026-07-27T20:35:25Z","subjects":["Slip Correction","Current-based slip correction"],"languages":[],"rights":["Attribution 4.0 International"],"rights_urls":["http://creativecommons.org/licenses/by/4.0/"],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/1974/34520","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.department","label":"Department","values":["Mechanical and Materials Engineering"]},{"key":"dc:contributor.supervisor","label":"Supervisor","values":["Surgenor, Brian"]},{"key":"dc:creator","label":"Author","values":["Diab, Jude"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2025-05-02T12:49:05Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2025-05-02T12:49:05Z"]},{"key":"dc:date.issued","label":"Date","values":["2025-05-02"]},{"key":"dc:type","label":"Dc Type","values":["thesis"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Slip Correction","Current-based slip correction"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:rights","label":"Dc Rights","values":["Attribution 4.0 International"]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://creativecommons.org/licenses/by/4.0/"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["https://hdl.handle.net/1974/34520"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["This work compares methods for improving the dead-reckoning capabilities of a mobile robot in the presence of longitudinal slip. They were evaluated using a standardized test of driving in a 140-centimetre square. Testing was conducted on high-friction rubber and low-friction artificial ice surfaces, with a motion-capture system providing ground-truth data for evaluation. Results were both assessed visually, and using RMSE of the motion-captured path against the desired path. A custom-designed robot served as a standardized hardware platform for testing. Five methods were studied. First, an uncorrected method, measuring only odometry and incorporating a lateral-position correction and wheel-velocity control, showed poor path-following performance over a 140 cm square path, with RMSE values of 48.5 cm on rubber and 45.8 cm on ice, despite tuning. The results of this method were used as the benchmark. Second, a current-slip method, correlated motor current to velocity loss due to slip, achieved RMSE values of 22.2 cm on rubber and 30.9 cm on ice. Third, a torque-slip method, which incorporated torque measurements instead, showed little improvement on the uncorrected method, with RMSE values of 43.2 cm on rubber and 53.5 cm on ice. Fourth, by using a current-slip-ice method that correlates data that is specific to ice, RMSE values as low as 11.9 cm were achieved. However, the exact corrected path showed variability, with a coefficient of variation of 25% across three runs. Fifth, the equivalent test carried out for torque, the torque-slip-ice method yielded almost no improvement, with an RMSE value on ice of 52.7 cm. In summary, the current-slip method showed the best improvement in performance under the conditions tested. These findings highlight the potential of a current-slip method for mobile robotic navigation in low-friction environments, with implications for future research in mixed and uneven terrain."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["M.A.Sc."]},{"key":"dc:title","label":"Title","values":["Slip-Correction Methods for Improved Dead Reckoning in Autonomous Wheeled Robots"]}]}],"canonical_facts":{"dc:contributor.department":["Mechanical and Materials Engineering"],"dc:contributor.supervisor":["Surgenor, Brian"],"dc:creator":["Diab, Jude"],"dc:date.accessioned":["2025-05-02T12:49:05Z"],"dc:date.available":["2025-05-02T12:49:05Z"],"dc:date.issued":["2025-05-02"],"dc:description.abstract":["This work compares methods for improving the dead-reckoning capabilities of a mobile robot in the presence of longitudinal slip. They were evaluated using a standardized test of driving in a 140-centimetre square. Testing was conducted on high-friction rubber and low-friction artificial ice surfaces, with a motion-capture system providing ground-truth data for evaluation. Results were both assessed visually, and using RMSE of the motion-captured path against the desired path. A custom-designed robot served as a standardized hardware platform for testing. Five methods were studied. First, an uncorrected method, measuring only odometry and incorporating a lateral-position correction and wheel-velocity control, showed poor path-following performance over a 140 cm square path, with RMSE values of 48.5 cm on rubber and 45.8 cm on ice, despite tuning. The results of this method were used as the benchmark. Second, a current-slip method, correlated motor current to velocity loss due to slip, achieved RMSE values of 22.2 cm on rubber and 30.9 cm on ice. Third, a torque-slip method, which incorporated torque measurements instead, showed little improvement on the uncorrected method, with RMSE values of 43.2 cm on rubber and 53.5 cm on ice. Fourth, by using a current-slip-ice method that correlates data that is specific to ice, RMSE values as low as 11.9 cm were achieved. However, the exact corrected path showed variability, with a coefficient of variation of 25% across three runs. Fifth, the equivalent test carried out for torque, the torque-slip-ice method yielded almost no improvement, with an RMSE value on ice of 52.7 cm. In summary, the current-slip method showed the best improvement in performance under the conditions tested. These findings highlight the potential of a current-slip method for mobile robotic navigation in low-friction environments, with implications for future research in mixed and uneven terrain."],"dc:description.degree":["M.A.Sc."],"dc:identifier.uri":["https://hdl.handle.net/1974/34520"],"dc:rights":["Attribution 4.0 International"],"dc:rights.uri":["http://creativecommons.org/licenses/by/4.0/"],"dc:subject":["Slip Correction","Current-based slip correction"],"dc:title":["Slip-Correction Methods for Improved Dead Reckoning in Autonomous Wheeled Robots"],"dc:type":["thesis"]},"updated_at":"2026-07-27T20:35:25Z"}