Estimation of Skid-Steered Wheeled Vehicle States Using STUKF with Adaptive Noise Adjustment

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 motio...

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Autores principales: Xing Zhang, Shihua Yuan, Xufeng Yin, Xueyuan Li, Xinyi Qu, Qi Liu
Formato: article
Lenguaje:EN
Publicado: MDPI AG 2021
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UKF
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Acceso en línea:https://doaj.org/article/411b31388a154b849d03ea964beeaf16
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