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 proceedingConference contribution

3 Scopus citations


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 languageEnglish (US)
Title of host publicationProceedings of the 27th Chinese Control Conference, CCC
Number of pages5
StatePublished - 2008
Externally publishedYes
Event27th Chinese Control Conference, CCC - Kunming, Yunnan, China
Duration: Jul 16 2008Jul 18 2008

Publication series

NameProceedings of the 27th Chinese Control Conference, CCC


Other27th Chinese Control Conference, CCC
CityKunming, Yunnan

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering


  • Inertial measurement units
  • Mobile robots
  • Nonlinear Kalman filter


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