SIDE SLIP MODELLING FOR A 4-WHEEL STEERABLE INDUSTRIAL VEHICLE

This paper describes an adaptive estimation approach that uses Kalman filtering with a two-tier, side-slip compensation technique for improving estimation. The approach can be used on a 4-wheel steerable industrial vehicle. Position measurements from a reference system are fused with the odometry measurements to provide an optimal estimate of the vehicle's states. The odometry encoder's resolution is constantly calibrated in order to main an accurate position report. The performance of the method is evaluated at different maneuvers, speeds and loading patterns using data obtained from field trials.