NDLI: The odometry error of a mobile robot with a synchronous drive system

Content Provider	IEEE Xplore Digital Library
Author	Martinelli, A.
Copyright Year	1989
Abstract	This paper presents an error modeling of an odometry system for a synchronous-drive system and a possible strategy for evaluating this error. The odometry error is modeled by introducing four parameters characterizing its systematic and nonsystematic components (translational and rotational). The nonsystematic errors are expressed in terms of a covariance matrix, which depends on both the previous four parameters and the path followed by the mobile robot. In contrast to previous approaches which require assuming a particular path (straight or circular) in order to compute this covariance matrix, the general formulas are derived. We suggest a possible strategy for simultaneously estimating the four model parameters. It is shown that our strategy only requires measuring the change in the orientation and position between the initial and final configurations of the robot, related to suitable robot motions. In other words, it is unnecessary to know the actual path followed by the robot. We illustrate the proposed strategy by discussing the accuracy of the parameters estimation, and present some of the experimental results obtained with the mobile robot Nomad 150.
Starting Page	399
Ending Page	405
Page Count	7
File Size	382799
File Format	PDF
ISSN	1042296X
Volume Number	18
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-06-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Wheels Covariance matrix Velocity measurement Robot sensing systems Robotics and automation Calibration Educational robots Parallel robots Error correction
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering

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