LOW SPEED MOTION FEEDBACK FOR THE UNMANNED GROUND VEHICLE

In low speed operation, data from wheel encoders of the Unmanned Ground Vehicle (UGV) suffer greatly from approximation errors, which reduces the quality of closed-loop control. Because encoder events are more rare in low speed operations, practically all events should be regarded including their time of occurrence to extract maximum amount of motion information out of them. Hardware-specific properties of a single-pole magnetic encoder are reflected in encoder simulations to evaluate M/T method's attractiveness while operating at very low angular velocity.