Slip-Aware Motion Estimation for Off-Road Mobile Robots via Multi-Innovation Unscented Kalman Filter
Benefiting from high mobility and robust mechanical structure, ground mobile robots are widely adopted in the outdoor environment. The mobility of skid-steered mobile robots highly depends on the nonlinear and uncertain interaction between the tire and terrain. This paper introduces an approach to e...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9022876/ |