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

Wang Hongpeng; Yi Jingang; Liu Jingtai; Song Dezhen

doi:10.1109/CHICC.2008.4605672

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

Wang Hongpeng, Yi Jingang, Liu Jingtai, Song Dezhen

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Scopus citations

Abstract

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.

Original language	English (US)
Title of host publication	Proceedings of the 27th Chinese Control Conference, CCC
Pages	446-450
Number of pages	5
DOIs	https://doi.org/10.1109/CHICC.2008.4605672
State	Published - 2008
Externally published	Yes
Event	27th Chinese Control Conference, CCC - Kunming, Yunnan, China Duration: Jul 16 2008 → Jul 18 2008

Publication series

Name	Proceedings of the 27th Chinese Control Conference, CCC

Other

Other	27th Chinese Control Conference, CCC
Country/Territory	China
City	Kunming, Yunnan
Period	7/16/08 → 7/18/08

All Science Journal Classification (ASJC) codes

Control and Systems Engineering

Keywords

Inertial measurement units
Mobile robots
Nonlinear Kalman filter

Access to Document

10.1109/CHICC.2008.4605672

Cite this

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title = "Nonlinear Kalman filter-based trajectory error analysis of skid-steered mobile robots",

abstract = "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.",

keywords = "Inertial measurement units, Mobile robots, Nonlinear Kalman filter",

author = "Wang Hongpeng and Yi Jingang and Liu Jingtai and Song Dezhen",

year = "2008",

doi = "10.1109/CHICC.2008.4605672",

language = "English (US)",

isbn = "9787900719706",

series = "Proceedings of the 27th Chinese Control Conference, CCC",

pages = "446--450",

booktitle = "Proceedings of the 27th Chinese Control Conference, CCC",

note = "27th Chinese Control Conference, CCC ; Conference date: 16-07-2008 Through 18-07-2008",

}

Hongpeng, W, Jingang, Y, Jingtai, L & Dezhen, S 2008, Nonlinear Kalman filter-based trajectory error analysis of skid-steered mobile robots. in Proceedings of the 27th Chinese Control Conference, CCC., 4605672, Proceedings of the 27th Chinese Control Conference, CCC, pp. 446-450, 27th Chinese Control Conference, CCC, Kunming, Yunnan, China, 7/16/08. https://doi.org/10.1109/CHICC.2008.4605672

TY - GEN

T1 - Nonlinear Kalman filter-based trajectory error analysis of skid-steered mobile robots

AU - Hongpeng, Wang

AU - Jingang, Yi

AU - Jingtai, Liu

AU - Dezhen, Song

PY - 2008

Y1 - 2008

N2 - 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.

AB - 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.

KW - Inertial measurement units

KW - Mobile robots

KW - Nonlinear Kalman filter

UR - http://www.scopus.com/inward/record.url?scp=52449083722&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=52449083722&partnerID=8YFLogxK

U2 - 10.1109/CHICC.2008.4605672

DO - 10.1109/CHICC.2008.4605672

M3 - Conference contribution

AN - SCOPUS:52449083722

SN - 9787900719706

T3 - Proceedings of the 27th Chinese Control Conference, CCC

SP - 446

EP - 450

BT - Proceedings of the 27th Chinese Control Conference, CCC

T2 - 27th Chinese Control Conference, CCC

Y2 - 16 July 2008 through 18 July 2008

ER -

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

Abstract

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All Science Journal Classification (ASJC) codes

Keywords

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