Introduction
In this paper, we propose a new odometry method to improve the accuracy. One of the features of the proposed method is that it can be achieved by a gyro-sensor, encoders (which detect the rotational velocity of tracks), and an empirically identified parameter.
Target Vehicles and Conditions
A target vehicle is a tracked vehicle that follows a curve based on skid-steering, and its gravity point is located at geometric center of its body.
The vehicle runs in steady-state maneuver and contact surface of the left track is nearly identical to that of the right track.
Kinematics for Skid-Steering Tracked Vehicles
(1) x ˙ = v r ( 1 − α r ) + v l ( 1 − α l ) 2 c o s θ \dot{x} = \frac{v_{r}(1 - \alpha_{r}) + v_{l} (1 -\alpha_{l})}{2} \mathrm{cos} \theta \tag{1} x˙=2vr(1−αr)+vl(1−αl)cosθ(1) (2) y ˙ = v r ( 1 − α r ) + v l ( 1 − α l ) 2 s i n θ \dot{y} = \frac{v_{r}(1 - \alpha_{r}) + v_{l}(1 - \alpha_{l})}{2} \mathrm{sin} \theta \tag{2} y˙=2vr(1−αr)+vl(1−αl)sinθ(2) (3) θ ˙ = v r ( 1 − α r ) − v l ( 1 − α l ) 2 d \dot{\theta} = \frac{v_{r}(1 - \alpha_{r}) - v_{l}(1 - \alpha_{l})}{2d} \tag{3} θ˙=2dvr(1−αr)−vl(1−αl)(3)
Previous Model in [5]
(4) a l a r = − s g n ( v l ⋅ v r ) \frac{a_{l}}{a_{r}} = - \mathrm{sgn}(v_{l} \cdot v_{r}) \tag{4} aral=−sgn(vl⋅vr)(4)
Position errors remain, and they tend to increase according to the qualitative increase of the difference between v l v_{l} vl and v r v_{r} vr qualitatively.
Proposed Method
(5) a l a r = − s g n ( v l ⋅ v r ) ∣ v r v l ∣ n \frac{a_{l}}{a_{r}} = - \mathrm{sgn}(v_{l} \cdot v_{r}) \left | \frac{v_{r}}{v_{l}} \right | ^{n} \tag{5} aral=−sgn(vl⋅vr)∣∣∣∣vlvr∣∣∣∣n(5)
where
n
n
n——a specific parameter that may be changed by various factors (track size, tread, and contact characteristics between the track surface and the ground).
Experiment
- setup
encoders, rate gyroscope, two markers - Identification of n n n
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