Motion Predicting of Autonomous Tracked Vehicles with Online Slip Model Identification

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/mpe/volume-2016/6375652/figures/6375652.fig.0015a.svgz" name="6375652.fig.0015a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Predicted position error</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2016/6375652/figures/6375652.fig.0015b.svgz" name="6375652.fig.0015b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Predicted heading error</td></tr></table>

<div>Two-second predicted residuals with EKF and no slip in the case of RTK GPS outages.</div>

Mathematical Problems in Engineering

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Figure 15

Figure 15: Motion Predicting of Autonomous Tracked Vehicles with Online Slip Model Identification 