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.
2016-01-01
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.File in questo prodotto:
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