Kalman Filter Study of A Micro-Robot With Track Slippage Report uri icon


  • A Kalman filter is presented for a micro-robotic vehicle which is propelled by two tracks. The vehicle may be equipped with either GPS, compass heading sensor, heading sensor to a non-directional beacon, or any combination thereof. Of particular interest is what effect track slippage will have on the internal position and heading estimates.

author list (cited authors)

  • Schaub, H., & Junkins, J.

complete list of authors

  • Schaub, Hanspeter||Junkins, John

publication date

  • April 2003