Publication detail

Kinematic Models for Odometry of a Six-Wheeled Mobile Robot

JÍLEK, T. BURIAN, F. KŘÍŽ, V.

Original Title

Kinematic Models for Odometry of a Six-Wheeled Mobile Robot

English Title

Kinematic Models for Odometry of a Six-Wheeled Mobile Robot

Type

conference paper

Language

en

Original Abstract

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 identi cation 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.

English abstract

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 identi cation 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.

Keywords

position estimation, robot kinematics, model approximation, mobile robots, robot calibration, global positioning systems

Released

23.12.2016

Publisher

Elsevier

Pages from

305

Pages to

310

Pages count

6

URL

BibTex


@inproceedings{BUT128784,
  author="Tomáš {Jílek} and František {Burian} and Vlastimil {Kříž}",
  title="Kinematic Models for Odometry of a Six-Wheeled Mobile Robot",
  annote="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 identication 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.",
  address="Elsevier",
  booktitle="14th IFAC Conference on Programmable Devices and Embedded Systems PDES 2016",
  chapter="128784",
  doi="10.1016/j.ifacol.2016.12.054",
  howpublished="online",
  institution="Elsevier",
  number="25",
  year="2016",
  month="december",
  pages="305--310",
  publisher="Elsevier",
  type="conference paper"
}