IEEE - Institute of Electrical and Electronics Engineers, Inc. - IMU-based localization and slip estimation for skid-steered mobile robots

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

Author(s): Jingang Yi ; Junjie Zhang ; Dezhen Song ; S. Jayasuriya
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 October 2007
Conference Location: San Diego, CA, USA
Conference Date: 29 October 2007
Page(s): 2,845 - 2,850
ISBN (CD): 978-1-4244-0912-9
ISBN (Paper): 978-1-4244-0911-2
DOI: 10.1109/IROS.2007.4399477
Regular:

Localization and wheel slip estimation of a skid- steered mobile robot is challenging because of the complex wheel/ground interactions and kinematics constraints. In this paper, we present a... View More

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