GitHub - francomano/ukf_test: 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.

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.

Name		Name	Last commit message	Last commit date
Latest commit History 50 Commits
.gitignore		.gitignore
README.md		README.md
complete_controller.py		complete_controller.py
main.ipynb		main.ipynb
ode4.py		ode4.py
tiago.urdf		tiago.urdf

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