Abstract
Skid-steered wheeled vehicles are commonly adopted in outdoor environments with the benefits of mobility and flexible structure. However, different from Ackerman turning vehicles, skid-steered vehicles do not possess geometric constraint but only dynamic constraint when steered, which leads to motion control and state estimation problems for skid-steered vehicles. The controlling accuracy of a skid-steered vehicle depends largely on feedback state information from sensors and an observer. In this study, a 3-DOF dynamic model using a Brush nonlinear tire model is built, first, to model a 6 × 6 skid-steered wheeled vehicle in flat ground driving conditions. Then, an observer using the unscented Kalman filter with a strong tracking algorithm and adaptive noise matrix adjustment (AN-STUKF) is established to estimate vehicle motion states based on the 3-DOF dynamic model. Finally, the experiment is carried out in three different driving conditions to verify the accuracy and stability of the proposed method. The results show that the AN-STUKF method possesses better accuracy and tracking rate than the traditional UKF, and the phenomenon of ICRs shifting forward of the skid-steered wheeled vehicle is also verified.
Highlights
Unmanned ground vehicles have been developed for carrying out different particular tasks, especially for rescues and in the military
This paper is organized as follows: In Section 2, the relative works in recent years are reviewed; in Section 3, the dynamic and kinetic model is developed to describe the vehicle motion characteristics; in Section 4, we present the UKF observer with an adaptive noise matrix adjustment and a strong tracking algorithm; in Section 5, the experimental verification tests are presented; and in Section 6, we state the conclusions and future studies
The skid-steered wheeled vehicle dynamics and kinetic modeling and the traditional Ackerman estimation methods are discussed as the reference for the state estimation for skid-steered wheeled vehicles
Summary
Unmanned ground vehicles have been developed for carrying out different particular tasks, especially for rescues and in the military. As compared with an Ackerman turning vehicle, a skid-steered vehicle lacks a geometric constraint because the tires cannot deflect This limit leads to the tire lateral slipping trend, which results in the tires frequently working in nonlinear conditions. Skid-steered wheeled vehicles usually work in off-road environments for their special applications, and the tire-road contact tends to be complex. This paper is organized as follows: In Section 2, the relative works in recent years are reviewed; in Section 3, the dynamic and kinetic model is developed to describe the vehicle motion characteristics; in Section 4, we present the UKF observer with an adaptive noise matrix adjustment and a strong tracking algorithm; in Section 5, the experimental verification tests are presented; and, we state the conclusions and future studies This paper is organized as follows: In Section 2, the relative works in recent years are reviewed; in Section 3, the dynamic and kinetic model is developed to describe the vehicle motion characteristics; in Section 4, we present the UKF observer with an adaptive noise matrix adjustment and a strong tracking algorithm; in Section 5, the experimental verification tests are presented; and in Section 6, we state the conclusions and future studies
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