Modelling Tracked Robots in Planar Off-Road Conditions
In the context of robotics, a model is defined as a set of mathematical differential equations that represents the behaviour of a robot. In this sense, kinematic and dynamic modelling constitutes a key issue related to off-road mobile robotics, since such models may be used to design appropriate mechanical structures [117, 125]; to design planning algorithms and motion controllers ; to estimate the robot localization ; and to implement software simulators , among others.
KeywordsKinematic Model Doppler Radar Forward Velocity Robot Localization Visual Odometry
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