A dead-reckoning scheme for skid-steered vehicles in outdoor environments

Georgia Anousaki; K. J. Kyriakopoulos

doi:10.1109/robot.2004.1307211

A dead-reckoning scheme for skid-steered vehicles in outdoor environments

Georgia Anousaki, K. J. Kyriakopoulos

Electrical Engineering

Research output: Contribution to journal › Conference article › peer-review

Abstract

A dead-reckoning scheme appropriate for skid-steered mobile robots is introduced to serve in a wider scheme for simultaneous localization and map-building. It is based on internal sensors (inertial data and odometry) only. The information from an experimentally derived kinematic model and an onboard Inertial Navigation System (INS), after a necessary pre-filtering stage, is fused using a simple and fast modified Kalman filter. We verify our approach with large scale experiments in outdoors structured environments and variable terrains, following paths with steep turns and variable velocity.

Original language	English (US)
Pages (from-to)	580-585
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2004
Issue number	1
DOIs	https://doi.org/10.1109/robot.2004.1307211
State	Published - 2004
Event	Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: Apr 26 2004 → May 1 2004

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/robot.2004.1307211

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abstract = "A dead-reckoning scheme appropriate for skid-steered mobile robots is introduced to serve in a wider scheme for simultaneous localization and map-building. It is based on internal sensors (inertial data and odometry) only. The information from an experimentally derived kinematic model and an onboard Inertial Navigation System (INS), after a necessary pre-filtering stage, is fused using a simple and fast modified Kalman filter. We verify our approach with large scale experiments in outdoors structured environments and variable terrains, following paths with steep turns and variable velocity.",

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AB - A dead-reckoning scheme appropriate for skid-steered mobile robots is introduced to serve in a wider scheme for simultaneous localization and map-building. It is based on internal sensors (inertial data and odometry) only. The information from an experimentally derived kinematic model and an onboard Inertial Navigation System (INS), after a necessary pre-filtering stage, is fused using a simple and fast modified Kalman filter. We verify our approach with large scale experiments in outdoors structured environments and variable terrains, following paths with steep turns and variable velocity.

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JO - Proceedings - IEEE International Conference on Robotics and Automation

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ER -

A dead-reckoning scheme for skid-steered vehicles in outdoor environments

Abstract

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