{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,21]],"date-time":"2026-07-21T14:38:33Z","timestamp":1784644713188,"version":"3.55.0"},"reference-count":29,"publisher":"Wiley","license":[{"start":{"date-parts":[[2023,10,11]],"date-time":"2023-10-11T00:00:00Z","timestamp":1696982400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100008961","name":"Longyan University","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100008961","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Journal of Robotics"],"published-print":{"date-parts":[[2023,10,11]]},"abstract":"<jats:p>Accurate real-time kinematics model is very important for the control of a skid-steering mobile robot. In this study, the kinematics model of the skid-steering mobile robots was first designed based on instantaneous rotation centers (ICRs). Then, the extended Kalman filter (EKF) technique was applied to obtain the parameters of ICRs under the same specific terrain online. To adapt to different terrain environments, the fractal dimension-based SFTA (segmentation-based fractal texture analysis) method was used to extract features of different terrains, and the k-nearest neighbor (KNN) method was used to classify the terrains. In the case of real-time terrain recognition, the filter parameters of the EKF for estimating the ICRs are adjusted adaptively. Experiments on a real skid-steering mobile robot show that this method can quickly estimate the kinematics model of the robot in the case of terrain changes, and can meet the needs of practical applications. The average error of odometer estimation based on visual terrain classification is 0.06\u2009m, while the average error of odometer estimation without terrain classification is 0.14\u2009m.<\/jats:p>","DOI":"10.1155\/2023\/1632563","type":"journal-article","created":{"date-parts":[[2023,10,11]],"date-time":"2023-10-11T20:35:21Z","timestamp":1697056521000},"page":"1-12","source":"Crossref","is-referenced-by-count":8,"title":["Kinematics Model Estimation of 4W Skid-Steering Mobile Robots Using Visual Terrain Classification"],"prefix":"10.1155","volume":"2023","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8934-0738","authenticated-orcid":true,"given":"Yang","family":"Chen","sequence":"first","affiliation":[{"name":"School of Physics and Mechatronics Engineering, Longyan University, Fujian 364000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-2690-9688","authenticated-orcid":true,"given":"Yao","family":"Wu","sequence":"additional","affiliation":[{"name":"Shanghai Houpu Technology Co., Ltd., Shanghai 201112, China"},{"name":"Robotics Institute, Beihang University, Beijing 100191, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8353-8265","authenticated-orcid":true,"given":"Wei","family":"Zeng","sequence":"additional","affiliation":[{"name":"School of Physics and Mechatronics Engineering, Longyan University, Fujian 364000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7092-0596","authenticated-orcid":true,"given":"Shaoyi","family":"Du","sequence":"additional","affiliation":[{"name":"Institute of Artificial Intelligence and Robotics, Xi\u2019an Jiaotong University, Xi\u2019an 710049, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","reference":[{"issue":"4","key":"1","first-page":"477","article-title":"Modeling and control of a 4-wheel skid-steering mobile robot","volume":"14","author":"K. 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