抄録
Trajectory tracking for crawler robot is considered in this paper. Such robot has a difficulty to estimate it's exact position because of slippage between the crawler and the ground. To compensate the slippage, we propose a trajectory tracking method for crawler robot based on slip-estimation using its encoders and a gyro sensor. An actual experiment testing was carried out to confirm its performance. In this paper, we introduce the trajectory tracking method and report the experimental result.
