Detail publikace

Kinematic Models for Odometry of a Six-Wheeled Mobile Robot

JÍLEK, T. BURIAN, F. KŘÍŽ, V.

Originální název

Kinematic Models for Odometry of a Six-Wheeled Mobile Robot

Anglický název

Kinematic Models for Odometry of a Six-Wheeled Mobile Robot

Jazyk

en

Originální abstrakt

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.

Anglický abstrakt

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.

Dokumenty

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"
}