Comparison of slip-compensated odometry for various skid-steer suspensions on different ground surfaces.

Comparison of slip-compensated odometry for various skid-steer suspensions on different ground surfaces. | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article Comparison of slip-compensated odometry for various skid-steer suspensions on different ground surfaces. Łukasz Chlebowicz, Bartłomiej Cybulski, Piotr Botew, Grzegorz Granosik This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-4777944/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract Localization systems for mobile robots often integrate various positioning methods, with wheel odometry commonly employedin predictive stages of position estimation algorithms. Reinforced odometry can elevate overall accuracy, robustness, andredundancy of a localization system. This study introduces a methodology and experiment comparing slip-compensatedodometry using four algorithms based on enhanced kinematic models of skid steer suspension. The primary objective isto extrapolate these methods to diverse skid-steer suspensions for enhanced adaptability and modular performance, whilethe secondary goal is to increase odometry robustness using low-cost methods. Through the evaluation of algorithmicperformance across 10 distinct surface types, characterized by diverse slipping conditions, we aimed to determine theiradaptability to different traction conditions. This paper introduces a slip compensation method for modular robotic platforms,comparing four odometry algorithms across 24 suspension configurations and 10 surfaces. It enhances odometry accuracyand slip compensation efficiency, focusing on reducing Mean Absolute Error (MAE) and demonstrating algorithm adaptability todifferent suspension types and surfaces. In this extended study, experiments were conducted involving 24 distinct suspensionconfigurations, all employing skid-steer mechanics. The rigorous testing entailed multiple repetitions of two different trajectoriesacross 10 varied ground surfaces, amounting to a total of 1576 trials. Physical sciences/Engineering/Electrical and electronic engineering Physical sciences/Engineering/Mechanical engineering Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-4777944","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Article","associatedPublications":[],"authors":[{"id":344917489,"identity":"98b1177a-bc8d-4ae3-8c7e-1436bb158a4b","order_by":0,"name":"Łukasz Chlebowicz","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAABMElEQVRIie3RsUrDQBjA8U8OLstp1gsR8wp3CGnFPMwV4bpIlyxOEgnUxQdo8CXSRXCLBOrSFyh0SBEy20VSKOIlsSLmoLiJ3H/Jl4Mfx5cAmEx/sCPA7cCsZqIAVsQOovrIal7h+AfBXwTtCMkUEWpGLSF7SK3EHkLlYF1tweshNCvW477nJS/TVVLBCBB6WlSw1JDcJQT4Y4yHPBlTfnMvQ54KCAHhiz6FskuGkavuFywnvnv4QAVyL32nEDCIEPEpg1xD4k3FamK/NQQ7829E6IicUSKaW3BDCCW+k+5IpiGklOckozzNcY8n75RPiNplImmI1S5nEevsYlvydFFtA489x2XxOr/2vNt8uroLgpFtxeqLXS1PQBvtnoj2N7FML3SJz+cviMlkMv3TPgCtKF7sFeJmtAAAAABJRU5ErkJggg==","orcid":"","institution":"Lodz University of Technology","correspondingAuthor":true,"prefix":"","firstName":"Łukasz","middleName":"","lastName":"Chlebowicz","suffix":""},{"id":344917490,"identity":"9fb36dcc-f426-4cad-8194-deda64ccfbbe","order_by":1,"name":"Bartłomiej Cybulski","email":"","orcid":"","institution":"Lodz University of Technology","correspondingAuthor":false,"prefix":"","firstName":"Bartłomiej","middleName":"","lastName":"Cybulski","suffix":""},{"id":344917492,"identity":"fe57a754-7f58-44d4-b29e-67f093ae7c6c","order_by":2,"name":"Piotr Botew","email":"","orcid":"","institution":"Lodz University of Technology","correspondingAuthor":false,"prefix":"","firstName":"Piotr","middleName":"","lastName":"Botew","suffix":""},{"id":344917493,"identity":"c6d0770f-c188-464a-93b6-ebbe9658e277","order_by":3,"name":"Grzegorz Granosik","email":"","orcid":"","institution":"Lodz University of Technology","correspondingAuthor":false,"prefix":"","firstName":"Grzegorz","middleName":"","lastName":"Granosik","suffix":""}],"badges":[],"createdAt":"2024-07-21 18:53:23","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-4777944/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-4777944/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":71195654,"identity":"699da7a7-aa4b-46b2-a941-be508fa59ae1","added_by":"auto","created_at":"2024-12-12 05:02:17","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":1460364,"visible":true,"origin":"","legend":"","description":"","filename":"ComparisonofslipcompensatedodometryforvariousskidsteersuspensionsondifferentgroundsurfacesSR2.pdf","url":"https://assets-eu.researchsquare.com/files/rs-4777944/v1_covered_f6d5994a-2abd-4f23-ad9f-8ff807bf883a.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Comparison of slip-compensated odometry for various skid-steer suspensions on different ground surfaces.","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"","lastPublishedDoi":"10.21203/rs.3.rs-4777944/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-4777944/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"Localization systems for mobile robots often integrate various positioning methods, with wheel odometry commonly employedin predictive stages of position estimation algorithms. 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