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.; Giannoccaro, I.; Messina, A.; Reina, G.. - 371:(2016), pp. 387-395. (Intervento presentato al convegno 24th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2015 tenutosi a rou nel 2015) [10.1007/978-3-319-21290-6_39].
Kinematics-based localization of a skid-steer vehicle
Galati R.;Reina G.
2016-01-01
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
