NDLI: Odometry and calibration methods for multi-castor vehicles

Content Provider	IEEE Xplore Digital Library
Author	Doebbler, J. Davis, J.J. Junkins, J.L. Valasek, J.
Copyright Year	2008
Description	Author affiliation: Dept. of Aerosp. Eng., Texas A&M Univ., College Station, TX (Doebbler, J.; Davis, J.J.; Junkins, J.L.; Valasek, J.)
Abstract	We are developing a mobile robot capable of emulating general 6-degree-of-freedom spacecraft relative motion. The omni-directional base uses a trio of active split offset castor drive modules to provide smooth, holonomic, precise control of its motion. Encoders measure the rotations of the six wheels and the three castor pivots. We present a generic odometric algorithm using a least squares framework which is applicable to vehicles with two or more castors and apply it to our unique vehicle configuration. As the accuracy of odometry algorithms depends on the accuracy to which the model parameters are known, a method to perform calibration on the physical robot is needed. We present a geometric calibration method based solely on internal sensor measurements. We present a range of simulation results comparing our odometry results to other algorithms under various systematic and non-systematic errors. We evaluate the ability of our calibration method to accurately determine the true values of our system parameters. The odometry algorithm was also implemented and tested in hardware on our robotic platform. The results presented in the paper validate the calibration and odometry algorithms in both simulation and hardware.
Starting Page	2110
Ending Page	2115
File Size	1167903
Page Count	6
File Format	PDF
ISBN	9781424416462
ISSN	10504729
DOI	10.1109/ROBOT.2008.4543518
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-05-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Calibration Hardware Mobile robots Space vehicles Motion control Rotation measurement Wheels Least squares methods Robot sensing systems Testing
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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