Research Article
Motion Predicting of Autonomous Tracked Vehicles with Online Slip Model Identification
Table 2
Comparison results in the case of RTK GPS outages.
| Prediction errors | No slip | EKF | % by reduced error |
| Position error (m) | 1.116 | 0.841 | 24.6 | Heading error (rad) | 0.317 | 0.083 | 73.8 |
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