UGV Trailer Position Estimation Using a Dynamic Base RTK System

Abstract

In this paper, an algorithm for a dynamic base real-time kinematic (DRTK) GPS is presented and a novel application to the guidance and control of a mobile robot pulling a trailer is discussed. The DRTK system is used to estimate the relative position between the robot and trailer in the autonomous system described, and the results are compared to traditional methods utilizing an optical encoder. Geometry error is analytically predicted and the influence on trailer position is shown. Experimental results show a marginal accuracy improvement over a properly calibrated encoder based system but a significant improvement when calibration errors are present. I.