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 modelling 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.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Siciliano, B., Khatib, O.: Springer Handbook of Robotics. Springer, Berlin (2008)
Martinez, J., Mandow, A., Morales, J., Pedraza, S. and A. Garca-Cerezo: Approximating kinematics for tracked mobile robots. Int. J. Robot. Res. 24(10), 867–878 (2005)
Pentzer, J., Brennan, S., Reichard, K.: Model-based prediction of skid-steer robot kinematics estimation of track instantaneous centers of rotation. J. Field Robot. 31(3), 455–476 (2014)
Tuan Le, A., Rye, D., Durrant-Whyte, H.F.: Estimation of back-soil interactions for autonomous tracked vehicles. In: Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque (1997)
Wang, D., Low, C.B.: Modeling and analysis of skidding and slipping in wheeled mobile robots: control design perspective. IEEE Trans. Rob. 24(3), 676–687 (2008)
Wong, J.: Theory of Ground Vehicles. Wiley, New York (2008)
Burke, M.: Path-following control of a velocity constrained tracked vehicle incorporating adaptive slip estimation. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 97–102 (2012)
Reina, G., Ojeda, L., Milella, A., Borenstein, J.: Wheel slippage and sinkage detection for planetary rovers. Trans. Mechatron. 11(2), 185–195 (2006)
Reina, G., Ishigami, G., Nagatani, K., Yoshida, K.: Vision-based estimation of slip angle for mobile robots and planetary rovers. In: IEEE International Conference on Robotics and Automation, Pasadena, 19–23 May 2008
Ojeda, L., Reina, G., Cruz, D., Borenstein, J.: The FLEXnav precision dead-reckoning System. Int. J. Veh. Auton. Syst. 4(2), 173–195 (2006)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
Galati, R., Giannoccaro, I., Messina, A., Reina, G. (2016). Kinematics-Based Localization of a Skid-Steer Vehicle. In: Borangiu, T. (eds) Advances in Robot Design and Intelligent Control. Advances in Intelligent Systems and Computing, vol 371. Springer, Cham. https://doi.org/10.1007/978-3-319-21290-6_39
Download citation
DOI: https://doi.org/10.1007/978-3-319-21290-6_39
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-21289-0
Online ISBN: 978-3-319-21290-6
eBook Packages: EngineeringEngineering (R0)