Dead reckoning in wheeled mobile platforms is a method that uses the kinematic model of the platforms to estimate their pose from the integration of the wheels’ motion. Due to its integrative principle, this method is very sensitive to modeling and measurement errors. Skid-steering platforms are no exception to this and although linear motions can be very well modeled, skid-based rotations depend on a number of factors, including the type of terrain and the location of the center of mass of the platforms, which are disregarded in conventional kinematic models. This article describes an improved kinematic model that takes these factors into account and verifies the model in a variety of working conditions, including different terrains and asymmetric loads, for two different wheeled skid-steered platforms. The obtained results show significant improvements in odometry performance using the proposed model in comparison to conventional approaches.

轮式移动平台中的航位推算是一种使用平台的运动学模型从车轮运动的积分中估计其姿态的方法。由于其综合原理，该方法对建模和测量误差非常敏感。滑移转向平台也不例外，尽管可以很好地模拟线性运动，但是基于滑移的旋转取决于许多因素，包括地形类型和平台质心的位置，这些因素都可以忽略不计。在传统的运动学模型中。本文介绍了一种改进的运动学模型，该模型考虑了这些因素，并针对两个不同的带轮滑移导向平台在各种工作条件下验证了该模型，包括不同的地形和不对称载荷。