2P2-C18 Three-Dimensional Odometry for Tracked Vehicles Based on Multiple Internal Sensor Fusion

Gyro-based odometry is a robust and easy-to-use localization method for mobile robots. However, the Gyrobased odometry for tracked vehicles has difficulties to estimate its exact localization because of track-terrain slippage and gyroscopes’ bias-drifts. To solve these problems, we propose an extended 3-dimensional odometry method for tracked vehicles based on multiple internal sensor fusion. The proposed method consists of slippagecompensation using encoders and gyroscopes, attitude correction using an acceleration sensor and gyroscopes’ bias value update. Finally, a performance test was carried out in real environment to confirm a validity of our approach. In this paper, we introduce the three-dimensional localization method by extended gyro-based odometry and report the experimental results.