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.
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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
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DOI: https://doi.org/10.1007/978-3-319-21290-6_39
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Online ISBN: 978-3-319-21290-6
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