Step-height detection for the Umbrella Wheel stair-climber using model prediction

摘要

This paper presents the design of a stair-height estimator for a stair-climbing vehicle equipped with so-called Umbrella Wheels [1]. 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.