防滑(空气动力学)
移动机器人
磁道(磁盘驱动器)
对偶(语法数字)
计算机科学
机器人
跟踪(教育)
路径(计算)
模拟
汽车工程
人工智能
工程类
结构工程
操作系统
艺术
心理学
教育学
文学类
程序设计语言
作者
Vinh X. Ha,Cheolkeun Ha,Jewon Lee
出处
期刊:AIAA Guidance, Navigation, and Control (GNC) Conference
日期:2013-08-15
被引量:2
摘要
Skid-steered mobile robots have been developed to explore unknown environments, especially in rough terrain situations, where the wheel slips always occur and vary when the robot is traveling with different trajectory shapes. The wheel slippage limits the traction and braking abilities of the robot. In this paper, we propose a new dual estimation algorithm for the robot’s position and wheel slip estimations based on the Kalman filtering technique. As demonstrated by our experimental results, the advantages of the new method overcome the limitations of the others in the path tracking control problem of a four track wheel skidsteered mobile robot (4-TW SSMR).
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