IMU-based localization and slip estimation for skid-steered mobile robots.
Jingang YiJunjie ZhangDezhen SongSuhada JayasuriyaPublished in: IROS (2007)
Keyphrases
- mobile robot
- simultaneous localization and map building
- map building
- mobile robot localization
- path planning
- obstacle avoidance
- simultaneous localization and mapping
- state estimation
- robot localization
- multi robot
- mobile robotics
- unknown environments
- position estimation
- dynamic environments
- multiple robots
- motion control
- autonomous navigation
- autonomous robots
- sensor fusion
- motion planning
- density estimation
- parameter estimation
- estimation accuracy
- indoor environments
- estimation algorithm
- robot control
- loop closing
- localization algorithm
- structure tensor
- robot navigation
- vision system