Kinematic Models for Odometry of a Six-Wheeled Mobile Robot
نویسندگان
چکیده
منابع مشابه
Reduction of Odometry Error in a two Wheeled Differential Drive Robot (TECHNICAL NOTE)
Pose estimation is one of the vital issues in mobile robot navigation. Odometry data can be fused with absolute position measurements to provide better and more reliable pose estimation. This paper deals with the determination of better relative localization of a two wheeled differential drive robot by means of odometry by considering the influence of parameters namely weight, velocity, wheel p...
متن کاملVelocity Kinematic Modeling for Wheeled Mobile Robots
This paper presents the velocity kinematic modeling of wheeled mobile robots (WMRs) by applying the matrix coordinate transformation to every pairs of WMRs including wheeled pairs which were dealt with ad-hoc manners in the previous methodologies. A wheeled pair is not replaced with a planar pair and its kinematics is formulated together with those of lower pairs, even though there exists 2 DOF...
متن کاملWheeled Mobile Robot Modeling
The paper addresses three important topics in mobile robotics. These are the path follower, the multi-sensors and the steering fuzzy controllers for wheeled mobile robot. This paper presents a novel computer vision methodology for building a system capable of determining the presence of a path follower, tracking the objects on that path, and recognizing the objects shape in vertical or in horiz...
متن کاملKinematic Modelling of Wheeled Mobile Manipulators
We propose a systematic modelling of the nonholonomic mobile manipulators built from a robotic arm mounted on a wheeled mobile platform. It extends the fundamental notions of nonholonomy, mobility and manœuvrability to the case of these hybrid holonomic/nonholonomic systems. It offers unambiguous definitions and models to the designer of kinematic control laws.
متن کاملKinematic Control of Wheeled Mobile Robots
−− A generic kinematic control, which is directly applicable to any type of wheeled mobile robot, is proposed in this work. Firstly, it is presented the kinematic models of the four common types of wheels (fixed, centered orientable, castor and Swedish) a classification of wheeled mobile robots. Afterwards, it is proposed a kinematic control scheme with three nested loops: dynamic, kinematic an...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2016
ISSN: 2405-8963
DOI: 10.1016/j.ifacol.2016.12.054