In this project we proposed a tracking control strategy for a tracked mobile robot under longitudinal slip condition. The proposed control strategy is based on the dynamic model of the tracked robot, in which the longitudinal slip of the left and right tracks are described by two unknown parameters.
Jupyter Notebook
A nonlinear feedback control law is proposed to achieve the trajectory-tracking objective, using estimation of the slip parameters.
The unscented Kalman filter (UKF) is introduced to joint estimate the states and the slip parameters.
N.B. The UKF algorithm is built in the complete_controller.py file.