On-Board Correction of Systematic Odometry Errors in Differential Robots
نویسندگان
چکیده
منابع مشابه
Correction of systematic odometry errors in mobile robots
2. Properties of Odometry Errors This paper describes a practical method for reducing In a typical differential drive mobile robot incremental odometry errors caused by kinematic imperfections of a mobile encoders are mounted onto the two drive motors to count the robot. These errors, here referred to as "systematic" errors, stay wheel revolutions. After a short sampling interval I the left and...
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Odometry is the most widely used method for determining the momentary position of a mobile robot. In most practical applications odometry provides easily accessible real-time positioning information in-between periodic absolute position measurements. The frequency at which the (usually costly and/or time-consuming) absolute measurements must be performed depends to a large degree on the accurac...
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ژورنال
عنوان ژورنال: Journal of Sensors
سال: 2019
ISSN: 1687-725X,1687-7268
DOI: 10.1155/2019/8269256