[SP] Odometry from wheel rate, steering angle, and gyroscope

[datahaki]

Background

Odometry refers to the state estimation of the gokart from the wheel rate, steering position, and gyro reading. The wheel rate and steering position are fairly accurate measurements.

State estimation of the gokart from these sensors has not yet been developed.

Task description

Make the best use of the odometry to estimate the state of the gokart: position, heading, velocity.

The odometry is particularly challenging under two conditions:

• the rear wheels slip at high speeds and rotational rates (Example: in a fast turn the inner wheel tends to slip)
• the wheels lock when applying the brakes to the maximum and the gokart skids

Motivation

The lidar-based localization method works well in previously mapped environments that do not contain many moving obstacles. But in a mutable surrounding, and conditions that are adverse to the lidar sensing, the lidar-based localization is expected to become unstable. A thoroughly investigated and well tuned state estimation from alternative sensors is crucial for a robust localization.

Another advantage is that odometry has a higher update frequency compared to lidar-based localization.