Localization and control of tracked mobile robots under slip conditions

Abstract

This paper deals with the localization and trajectory tracking control problems of tracked mobile robots under slip conditions. The proposed control law consists of the modification of a well-known control algorithm based on the feedback linearization technique, in which additional parameters have been included in order to compensate for the slip effects. Furthermore, an Indirect Kalman Filter has been used to improve the localization of the robot. Real tests show promising results.