Improvement of the Odometry Accuracy ofa Crawler Vehicle with Consideration of Slippage

• In our proposal, a crawler vehicle can estimate the slip ratios using information from encoders and a gyro-sensor.

• The estimated slip ratios improve an accuracy of the odometry of crawler vehicle.

• The validity of the proposed odometry system was evaluated by performing a basic experiment using an actual crawler vehicle.

• The left figure shows an accuracy of our odometry system in curve-trajectory in comparison with other methods.

Keiji NAGATANI, Daisuke ENDO, and Kazuya YOSHIDAGraduate School of Engineering, Tohoku University, JAPAN