S1510104 Revision of Odometry with Consideration of Suspensions State for Tracked Vehicle : Situational Consideration of Three-dimensional Attitude
Ryo Kodama, Masamitsu Kurisu · The Proceedings of Mechanical Engineering Congress Japan · 2014
Some suspension is mounted on the track roller on the tracked vehicle. Suspension is conceivable that the other hand to have the effect of protecting from impact of the robot hardware, ups and downs of the suspension make large position estimation error of the localization by dead reckoning. This paper describes the verification at the state of the suspension is performed experiments using tracked vehicle whether there is a correlation in the self-position estimation error. The experiment was conducted in consideration of the variation of attitude three dimensional.