https://github.com/francomano/wmr_control_ukf_based

https://github.com/francomano/wmr_control_ukf_based

control-systems ukf-localization wmr

Last synced: 6 months ago
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• Host: GitHub
• URL: https://github.com/francomano/wmr_control_ukf_based
• Owner: francomano
• Created: 2023-11-27T11:04:34.000Z (over 2 years ago)
• Default Branch: master
• Last Pushed: 2023-12-03T22:32:50.000Z (over 2 years ago)
• Last Synced: 2025-01-01T02:26:40.019Z (over 1 year ago)
• Topics: control-systems, ukf-localization, wmr
• Homepage:
• Size: 2.53 MB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

          
# WMR_control_UKF_based

The model of a wheeled mobile robot encodes the nonholonomic constraint which results from assuming

no slip between the ground and the wheels. However, in some applications slip cannot be neglected and

controllers that are based on a no-slip model may not work properly. The aim of this project is to robustify

the control performance by compensating the wheel slippage as estimated through an Unscented Kalman

Filter applied on the TIAGo mobile manipulator.