Nonlinear Kalman filter-based trajectory error analysis of skid-steered mobile robots

Skid-steered mobile robots have been widely used for terrain navigation and exploration. The absence of a steering system makes the robot mechanically robust and simple.Due to the varying tire/ground interactions and complex dynamics/kinematics models, it is challenging localization and tracking con...

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Main Authors: Wang Hongpeng, Yi Jingang, Liu Jingtai, Song Dezhen
Format: Conference Proceeding
Language:chi ; eng
Subjects:
Electronic mail
Estimation
Inertial measurement units
Kalman filters
Measurement units
Mechanical engineering
Mobile robots
Nonlinear Kalman filter
Robots
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Yi Jingang
Liu Jingtai
Song Dezhen
description Skid-steered mobile robots have been widely used for terrain navigation and exploration. The absence of a steering system makes the robot mechanically robust and simple.Due to the varying tire/ground interactions and complex dynamics/kinematics models, it is challenging localization and tracking control for such mobile robots. In this paper, we present a localization and slip estimation scheme for a skid-steered mobile robot using low-cost inertial measurement units, We first analyze the kinematics of the skid-steered mobile robot, secondly we establish an Gauss-Markov error model, then we present a nonlinear Kalman filter based simultaneous localization and slip estimation scheme. The estimation methodology is tested and validated experimentally with a computer vision-based localization system.
doi_str_mv 10.1109/CHICC.2008.4605672
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language chi ; eng
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source IEEE Xplore All Conference Series
subjects Electronic mail
Estimation
Inertial measurement units
Kalman filters
Measurement units
Mechanical engineering
Mobile robots
Nonlinear Kalman filter
Robots
title Nonlinear Kalman filter-based trajectory error analysis of skid-steered mobile robots
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