Kinematics Model Estimation of 4W Skid-Steering Mobile Robots Using Visual Terrain Classification
Accurate real-time kinematics model is very important for the control of a skid-steering mobile robot. In this study, the kinematics model of the skid-steering mobile robots was first designed based on instantaneous rotation centers (ICRs). Then, the extended Kalman filter (EKF) technique was applie...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2023-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2023/1632563 |