Open Internet by MindsNet

Detecting and Mitigating Mobile Robot Motion Anomalies

Mobile robots may experience wheel slip, odometry mismatch, or localization jumps, causing physical motion to diverge from commanded velocity. This can lead to safety issues and unexpected hard E-stop events. Current timeout mechanisms are insufficient, as they only check if a command arrived recently, not if the robot is still moving according to the command.

Engineering, Core Engineering, Robotics