Kinematic Models for Odometry of a Six-Wheeled Mobile Robot

被引：3
|
作者：
Jilek, T. [1 ]
Burian, F. [1 ]
Kriz, V. [1 ]
机构：
[1] Brno Univ Technol, Fac Elect Engn & Commun, Dept Control & Instrumentat, Brno, Czech Republic
来源：
IFAC PAPERSONLINE | 2016年 / 49卷 / 25期
关键词：
position estimation; robot kinematics; model approximation; mobile robots; robot calibration; global positioning systems;
D O I：
10.1016/j.ifacol.2016.12.054
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Paper describes kinematic models of a mobile robot with a six-wheeled chassis. These models can be used for estimation of its position and orientation using an odometry method. Basic model, advanced model, and model based on polynomial replacements are introduced. Steps of model identification are discussed. Described models are applied on data from a real mobile robot and there is evaluated position and azimuth error of odometry solution. Global navigation satellite systems in real time kinematic mode were used as a reference positioning system for evaluation of accuracy of odometry solution. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：305 / 310
页数：6
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