Development of a Longitudinal Slippage Detection Method for a Pseudo-omnidirectional UGV for Precision Agriculture

This paper discusses the development of a pseudo-omnidirectional Unmanned Ground Vehicle for Precision Agriculture applications. The UGV hardware development is discussed in terms of design requirements and executive design, with peculiar attention to the swerve-drive unit and the variable track mechanism. The discussion then focuses on the introduction of an Extended Kalman Filter for high precision longitudinal slippage estimation, for future implementation within the UGV traction control.