UKF-based enhancement and ROS implementation of 4-WDDMR localization with advanced control system

Figures & data

Figure 1. Diagram of the 4-WDDMR.

Table 1. 4-WDDMR model parameters

Symbol	Quantity
$M_c,M_{\omega }[\mathrm{k}\mathrm{g}]$	4-WDDMR and Wheel Mass
$L[\mathrm{c}\mathrm{m}]$	Distance Between the Two Back Wheels
$d[\mathrm{c}\mathrm{m}]$	Distance Between A and C
$r_{\omega }[\mathrm{c}\mathrm{m}]$	Wheels Radius
$I_c[\mathrm{k}\mathrm{g}.{\mathrm{m}}^2]$	4-WDDMR’s Moment of Inertia
$I_{\omega }[[\mathrm{k}\mathrm{g}.{\mathrm{m}}^2]$	Wheel’s Moment of Inertia about the Wheel Axis
$I_m[[\mathrm{k}\mathrm{g}.{\mathrm{m}}^2]$	Wheel’s Moment of Inertia about the Diameter
$R_a[\mathrm{\Omega }]$	Armature Resistance
$F_m[\mathrm{N}.\mathrm{m}]$	Friction Constant
$J_m[\mathrm{N}.\mathrm{m}]$	The Inertia Motor
$C{m}_{\phi }[\nu s.ra{d}^{-1}]$	Back e.m.f Constant
$N$	Gear Ratio
$\nu [m.s^{-1}]$	4-WDDMR Linear Velocity
$\omega [rad.s^{-1}]$	4-WDDMR Angular Velocity
${\omega }_R,{\omega }_L[rad.s^{-1}]$	Wheels Angular Velocities
$u_R,u_L[\nu ]$	Motor’s Nominal Voltages
The total moment of inertia: $I=M_c{d}^2+I_c+4M_{\omega }{L}^2+4I_m$ The total mass: $M=M_c+4M_{\omega }$

Figure 2. 4-WDDMR coordinates systems.

Figure 3. Block diagram of fusion sensors.

Figure 4. UKF recursive algorithm.

Figure 5. EKF-based path correction.

Figure 6. UKF-based path correction.

Figure 7. Schematic of ROS software architecture for 4-WDDMR.

Figure 8. Time response for right and left wheels.

Figure 9. 4-WDDMR orientation tracking.