1A1-F01 Three-dimensional Self-position Estimation of Tracked Vehicles using Terrain Information
Ken Sakurada, Eijiro Takeuchi, Kazunori Ohno, Satoshı Tadokoro · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2009
Gyro-based odometry is a robust and easy-to-use localization method for mobile robots. However, the Gyro-based odometry for tracked vehicles with flippers has difficulties to estimate its exact localization because of track-trrain slippage. To solve these problem, we propose three-dimensional self-position estimation of crawler robot using terrain information.