The paper addresses the localization issue for skid-steer vehicles. The large extent of slippage incurred by this type of vehicle in a turn heavily degrades the accuracy of their position estimation systems. Based on the kinematics modeling of skid-steering, the concept of equivalent track is presented. During field experiments with an off-road unmanned vehicle, this new concept proved to be effective in reducing localization errors up to two orders of magnitude.

Kinematics-based localization of a skid-steer vehicle

Galati R.;Reina G.
2016

Abstract

The paper addresses the localization issue for skid-steer vehicles. The large extent of slippage incurred by this type of vehicle in a turn heavily degrades the accuracy of their position estimation systems. Based on the kinematics modeling of skid-steering, the concept of equivalent track is presented. During field experiments with an off-road unmanned vehicle, this new concept proved to be effective in reducing localization errors up to two orders of magnitude.
24th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2015
978-3-319-21289-0
978-3-319-21290-6
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11589/238770
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