학술논문
Data-Driven Model Predictive Control for Skid-Steering Unmanned Ground Vehicles
Document Type
Conference
Source
2022 IEEE Workshop on Metrology for Agriculture and Forestry (MetroAgriFor) Metrology for Agriculture and Forestry (MetroAgriFor), 2022 IEEE Workshop on. :80-85 Nov, 2022
Subject
Language
Abstract
Skid steering vehicles rely on tracks slipping to perform turning maneuvers. In this context, the estimation of the right amount of slip turns out to be significant to correctly perform precise movements. In a typical agricultural scenario, with rough terrain and narrow navigating spaces, a reliable slip estimation is crucial to perform safe motions. In this work, we propose a novel Gaussian Process approach to slip estimation in a tracked wheel robots by showing experimental results obtained from our prototype robotic platform.