Approximating Kinematics for Tracked Mobile Robots

  title={Approximating Kinematics for Tracked Mobile Robots},
  author={Jorge L. Mart{\'i}nez and Anthony Mandow and Jes{\'u}s Morales and Salvador Pedraza and Alfonso Garc{\'i}a-Cerezo},
  journal={I. J. Robotics Res.},
In this paper we propose a kinematic approach for tracked mobile robots in order to improve motion control and pose estimation. Complex dynamics due to slippage and track–soil interactions make it difficult to predict the exact motion of the vehicle on the basis of track velocities. Nevertheless, real-time computations for autonomous navigation require an effective kinematics approximation without introducing dynamics in the loop. The proposed solution is based on the fact that the… CONTINUE READING
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