A novel method for estimating the track-soil parameters based on Kalman and improved strong tracking filters

被引：12

作者：

Yao, Yu ^{[1
,2
]}

Cheng, Kai ^{[1
]}

Zhou, Zhi-Jie ^{[3
]}

Zhang, Bang-Cheng ^{[2
]}

Dong, Chao ^{[1
]}

Zheng, Sen ^{[1
]}

机构：

[1] Jilin Univ, Coll Mech Sci & Engn, Changchun 130025, Peoples R China

[2] Changchun Univ Technol, Coll Mechatron Engn, Changchun 130012, Peoples R China

[3] High Tech Inst Xian, Xian 710025, Shaanxi, Peoples R China

来源：

ISA TRANSACTIONS | 2015年 / 59卷

基金：

中国国家自然科学基金;

关键词：

Tracked vehicle; Track-soil estimation; Improved strong tracking filter (ISTF); Kalman filter (KF); Slip estimation; VALIDATION; SYSTEMS; MODEL;

D O I：

10.1016/j.isatra.2015.09.017

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A tracked vehicle has been widely used in exploring unknown environments and military fields. In current methods for suiting soil conditions, soil parameters need to be given and the traction performance cannot always be satisfied on soft soil. To solve the problem, it is essential to estimate track-soil parameters in real-time. Therefore, a detailed mathematical model is proposed for the first time. Furthermore, a novel algorithm which is composed of Kalman filter (KF) and improved strong tracking filter (STF) is developed for online track-soil estimation and named as KF-ISTF. By this method, the KF is used to estimate slip parameters, and the ISTF is used to estimate motion states. Then the key soil parameters can be estimated by using a suitable soil model. The experimental results show that equipped with the estimation algorithm, the proposed model can be used to estimate the track-soil parameters, and make the traction performance satisfied with soil conditions. (C) 2015 ISA. Published by Elsevier Ltd. All rights reserved.

引用

页码：450 / 456

页数：7

共 21 条

[1]

Al-Milli S, 2008, INT C CLIMB WALK ROB

[2] Track-terrain modelling and traversability prediction for tracked vehicles on soft terrain [J].

Al-Milli, Said ;

Seneviratne, Lakmal D. ;

Althoefer, Kaspar .

JOURNAL OF TERRAMECHANICS, 2010, 47 (03) :151-160

[3]

[Anonymous], 1969, INTRO TERRAIN VEHICL

[4] Robust state feedback stabilization of articulated steer vehicles [J].

Azad, Nasser Lashgarian ;

Khajepour, Amir ;

McPhee, John .

VEHICLE SYSTEM DYNAMICS, 2007, 45 (03) :249-275

[5]

Gäfvert M, 2004, VEHICLE SYST DYN, V41, P51, DOI 10.1076/vesd.41.1.51.23408

[6] Fuzzy Vector Field Orientation Feedback Control-Based Slip Compensation for Trajectory Tracking Control of a Four Track Wheel Skid-Steered Mobile Robot [J].

Ha, Xuan Vinh ;

Ha, Cheolkeun ;

Lee, Jewon .

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2013, 10

[7] Longitudinal dynamics of a tracked vehicle: Simulation and experiment [J].

Janarthanan, B. ;

Padmanabhan, Chandramouli ;

Sujatha, C. .

JOURNAL OF TERRAMECHANICS, 2012, 49 (02) :63-72

[8] Development and experimental validation of an adaptive extended Kalman filter for the localization of mobile robots [J].

Jetto, L ;

Longhi, S ;

Venturini, G .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1999, 15 (02) :219-229

[9] Fast analytical models of wheeled locomotion in deformable terrain for mobile robots [J].

Jia, Zhenzhong ;

Smith, William ;

Peng, Huei .

ROBOTICA, 2013, 31 :35-53

[10] Road vehicle state estimation using low-cost GPS/INS [J].

Leung, King Tin ;

Whidborne, James F. ;

Purdy, David ;

Barber, Phil .

MECHANICAL SYSTEMS AND SIGNAL PROCESSING, 2011, 25 (06) :1988-2004

← 1 2 3 →