A hybrid EKF/KF state estimator for a skid-steered ATV

作者：Javed Mohammad Azam^*; Owen William; Biglarbegian Mohammad; Melek William

来源：Vehicle System Dynamics, 2014, 52(1): 85-110.

DOI：10.1080/00423114.2013.862282

• ATV
• UGV
• slip estimation
• skid-steering
• state estimation

This article presents a novel state estimation structure developed for a skid-steered, six-wheeled, ARGO (R) all-terrain vehicle (ATV). The ARGO ATV is a teleoperated unmanned ground vehicle custom fitted with an inertial measurement unit, wheel encoders and a Geographic Positioning System (GPS). This paper offers the following contributions: (1) a hybrid extended Kalman filter/Kalman filter state estimation technique that estimates the motion, orientation and wheel slips for an ARGO and (2) a virtual GPS point generation algorithm that can be used to adjust position estimates using a GPS sensor. Our field experiments reveal that the proposed estimation structure is able to estimate the position, velocity, orientation and longitudinal slip of the ARGO with a reasonable amount of accuracy. In addition, the proposed estimation structure is well suited for online applications and can also incorporate offline virtual GPS data to further improve the accuracy of the position estimates. The proposed estimation structure is also capable of estimating the longitudinal slip for every wheel of the ARGO.

• 出版日期2014-1-2