IMU-based localization and slip estimation for skid-steered mobile robots

机译：基于IMU的滑移式移动机器人定位和滑移估计

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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 localization and slip estimation scheme for a skid-steered mobil

机译：由于复杂的轮/地相互作用和运动学约束，带滑移的移动机器人的定位和轮滑估计是具有挑战性的。在本文中，我们提出了一种滑移式机动车辆的定位和滑移估计方案

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《Intelligent Robots and Systems, 2007 IEEE/RSJ International Conference on》|2007年|P.2845-2850|共6页
会议地点 San DiegoCAUSA
作者
Jingang Yi; Junjie Zhang; Dezhen Song; Jayasuriya; S.;
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Kalman filters; mobile robots; robot kinematics; wheels; kinematics constraint; low-cost inertial measurement unit; nonlinear Kalman filter-based simultaneous localization; robot velocity constraint; skid-steered mobile robot; wheel slip estimation; wheel-ground i;

机译：卡尔曼滤波器移动机器人；机器人运动学车轮运动学约束低成本惯性测量单元；基于非线性卡尔曼滤波器的同时定位；机器人速度约束；滑移式移动机器人；车轮打滑估计；轮式我;

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1. Kinematic Modeling and Analysis of Skid-Steered Mobile Robots With Applications to Low-Cost Inertial-Measurement-Unit-Based Motion Estimation [J] . Yi J., Wang H., Zhang J., Robotics, IEEE Transactions on . 2009,第5期

机译：滑移式移动机器人的运动学建模与分析及其在基于低成本惯性测量单元的运动估计中的应用
2. Fuzzy Vector Field Orientation Feedback Control-Based Slip Compensation for Trajectory Tracking Control of a Four Track Wheel Skid-steered Mobile Robot [J] . Xuan Vinh Ha, Cheolkeun Ha, Jewon Lee International Journal of Advanced Robotic Systems . 2013,第4期

机译：基于模糊矢量场方向反馈控制的滑移补偿的四履带滑移移动机器人轨迹跟踪控制
3. Fuzzy Vector Field Orientation Feedback Control-Based Slip Compensation for Trajectory Tracking Control of a Four Track Wheel Skid-Steered Mobile Robot [J] . Ha Xuan Vinh, Ha Cheolkeun, Lee Jewon International Journal of Advanced Robotic Systems . 2013,第期

机译：基于模糊的矢量场取向反馈控制，用于四轨道滑动转向移动机器人的轨迹跟踪控制的基于防滑补偿
4. IMU-based Localization and Slip Estimation for Skid-Steered Mobile Robots [C] . Jingang Yi, Junjie Zhang, Dezhen Song, IEEE/RSJ International Conference on Intelligent Robots and Systems . 2007

机译：基于IMU的Skid转向移动机器人的定位和滑动估计
5. Map building, localization, and structure estimation problems in mobile robotics. [D] . Zhang, Li. 2000

机译：移动机器人中的地图构建，本地化和结构估计问题。
6. IMU-Based Automated Vehicle Slip Angle and Attitude Estimation Aided by Vehicle Dynamics [O] . Lu Xiong, Xin Xia, Yishi Lu, 2019

机译：车辆动力学辅助的基于IMU的自动车辆滑移角和姿态估计
7. IMU-based Localization and Slip Estimation for Skid-Steered Mobile Robots [O] . Jingang Yi, Junjie Zhang, Dezhen Song, 2008

机译：基于IMU的滑动式移动机器人的定位和滑移估计
8. Wheel rolling constraints and slip in mobile robots [R] . Shekhar, S. 1997

机译：车轮滚动限制和移动机器人的滑动

IMU-based localization and slip estimation for skid-steered mobile robots

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