An Estimator for the Kinematic Behaviour of a Mobile Robot Subject to Large Lateral Slip

In this paper, the effects of wheel slip compensation in trajectory planning for mobile tractor-trailer robot applications are investigated. Firstly, a kinematic model proposed architecture is marked out, then an experimental campaign done to identify if it possible kinematically compensate trajectories that otherwise would be subject large lateral slip. Due close connection data, results shown valid only Epi.q, prototype main object manuscript. Nonetheless, base concept can usefully applied any