Publication detail

Odometry Calibration of a Chassis with Differential Steering

JÍLEK, T. BURIAN, F. KŘÍŽ, V.

Original Title

Odometry Calibration of a Chassis with Differential Steering

English Title

Odometry Calibration of a Chassis with Differential Steering

Type

conference paper

Language

en

Original Abstract

The paper presents a method for uncertainty estimates of the position and orientation of a chassis with differential steering acquired through the odometry technique. The proposed approach was tested on a real mechanical platform. The kinematic model parameters of a chassis and coefficients needed for uncertainty computation are calibrated via reference data from an RTK GNSS receiver. This method employs an analytical expression of uncertainty propagation and can be used as an alternative to standard approaches, mainly based on Kalman or particle filters. The advantages of the presented approach include the low computation demands, deterministic calibration process, and predictable behavior.

English abstract

The paper presents a method for uncertainty estimates of the position and orientation of a chassis with differential steering acquired through the odometry technique. The proposed approach was tested on a real mechanical platform. The kinematic model parameters of a chassis and coefficients needed for uncertainty computation are calibrated via reference data from an RTK GNSS receiver. This method employs an analytical expression of uncertainty propagation and can be used as an alternative to standard approaches, mainly based on Kalman or particle filters. The advantages of the presented approach include the low computation demands, deterministic calibration process, and predictable behavior.

Keywords

Mobile robot;chassis;differential steering;uncertainty estimates;odometry;position

Released

03.09.2018

Publisher

Elsevier B.V.

Location

Amsterdam, The Netherland

Pages from

484

Pages to

489

Pages count

6

URL

Documents

BibTex


@inproceedings{BUT147810,
  author="Tomáš {Jílek} and František {Burian} and Vlastimil {Kříž}",
  title="Odometry Calibration of a Chassis with Differential Steering",
  annote="The paper presents a method for uncertainty estimates of the position and orientation of a chassis with differential steering acquired through the odometry technique. The proposed approach was tested on a real mechanical platform. The kinematic model parameters of a chassis and coefficients needed for uncertainty computation are calibrated via reference data from an RTK GNSS receiver. This method employs an analytical expression of uncertainty propagation and can be used as an alternative to standard approaches, mainly based on Kalman or particle filters. The advantages of the presented approach include the low computation demands, deterministic calibration process, and predictable behavior.",
  address="Elsevier B.V.",
  booktitle="15th IFAC Conference on Programmable Devices and Embedded Systems PDeS 2018",
  chapter="147810",
  doi="10.1016/j.ifacol.2018.07.107",
  howpublished="online",
  institution="Elsevier B.V.",
  number="6",
  year="2018",
  month="september",
  pages="484--489",
  publisher="Elsevier B.V.",
  type="conference paper"
}