@inproceedings{77ce21ca3504483ca865360a0fbedc9b,
title = "Non-linear observer for slip estimation of skid-steering vehicles",
abstract = "Accurate estimation of slip is essential in developing autonomous navigation strategies for mobile vehicles operating in unstructured terrain. In this paper, a sliding mode observer is firstly constructed to estimate slip parameters based on the kinematics model of a skid-steering vehicle and trajectory measurement. The stability of the sliding mode observer is given in a mathematical context. Slip estimation schemes using an Extended Kalman Filter and direct mathematical inversion of the kinematic equations are also presented for comparison purposes. It is shown that the non-linear sliding mode observer is more accurate than the other two methods. The robustness and superior performance of the sliding mode observer is demonstrated using both simulation and experimental results. A camera based system is used to measure the vehicle trajectory during experimental validation.",
author = "Song Zibin and Zweiri, \{Yahya H.\} and Seneviratne, \{Lakmal D.\} and Kaspar Althoefer",
year = "2006",
doi = "10.1109/ROBOT.2006.1641920",
language = "British English",
isbn = "0780395069",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
pages = "1499--1504",
booktitle = "Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006",
note = "2006 IEEE International Conference on Robotics and Automation, ICRA 2006 ; Conference date: 15-05-2006 Through 19-05-2006",
}