A sliding parameter estimation method based on UKF for agricultural tracked robot

As the sliding parameter of track is hard-to-measure when Agricultural Tracked Robot (ATR) is moving in complicated farmland environment, an estimation method for sliding parameters of ATR based on UKF is proposed. A kinematics equation and a measurement equation of ATR are deduced by kinematics principle, and then the precision position parameters of ATR is calculated. Sliding parameters which cannot be measured directly may be reconstructed through this estimation method. The simulation and experimental results suggest that the estimation system is able to provide reliable and high update rate sliding information, which can provide some theoretical guidance for studying the control accuracy of ATR at a high speed in complicated farmland.