ArticleSensors (Basel, Switzerland)2025
Performance Improvement of Pure Pursuit Algorithm via Online Slip Estimation for Off-Road Tracked Vehicle.
Article in Sensors (Basel, Switzerland), 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers.
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
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Who cites it
2 citing papers in PubMed.
- Simulation-Based Multi-Factor Noise-Aware Adaptive Pure Pursuit with Causal EKF-SG Pose Preprocessing for Tracked Agricultural Robots.Sensors (Basel, Switzerland) · 2026Article
- Perception and Localization Error Propagation and Robust Path-Tracking Control for Agricultural Machinery in Hilly Orchards: A Review.Sensors (Basel, Switzerland) · 2026Review
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Authors and funding
2 authors.
Funding
Abstract
The motion control of a tracked mobile robot remains an important capability for autonomous navigation. Kinematic path-tracking algorithms are commonly used in mobile robotics due to their ease of implementation and real-time computational cost advantage. This paper integrates an extended Kalman filter (EKF) into a common kinematic controller for path-tracking performance improvement. The extended Kalman filter estimates the instantaneous center of rotation (ICR) of tracks using the sensor readings of GPS and IMU. These ICR estimations are then given as input to the motion control algorithm to generate the track velocity demands. The platform to be controlled is a heavyweight off-road tracked vehicle, which necessitates the investigation of slip values. A high-fidelity simulation model, which is verified with field tests, is used as the plant in the path-tracking simulations. The performance of the filter and the algorithm is also demonstrated in field tests on a stabilized road. The field results show that the proposed estimation increases the path-tracking accuracy significantly (about 44%) compared to the classical pure pursuit.
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Registered trials
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