NDLI: The CLAPPER: a dual-drive mobile robot with internal correction of dead-reckoning errors

Content Provider	IEEE Xplore Digital Library
Author	Borenstein, J.
Copyright Year	1994
Description	Author affiliation: MEAM Mobile Robotics Lab., Michigan Univ., Ann Arbor, MI, USA (Borenstein, J.)
Abstract	Presents a new approach to accurate and reliable dead-reckoning with mobile robots. The approach makes use of special properties of the author's multi-degree-of-freedom (MDOF) mobile platform, in which two differential-drive mobile robots (called "trucks") are physically connected through a compliant linkage. Using one linear and two rotary encoders, the system can measure the relative distance and bearing between the two trucks. During operation, both trucks perform conventional dead-reckoning with their wheel encoders, but, in addition, use information about their relative position to correct dead-reckoning errors. The author's system, called Compliant Linkage Autonomous Platform with Position Error Recovery (CLAPPER), requires neither external references (such as navigation beacons, artificial landmarks, known floorplans, or satellite signals), nor inertial navigation aids (such as accelerometers or gyros). Nonetheless, the experimental results included in this paper show one to two orders of magnitude better positioning accuracy than systems based on conventional dead-reckoning.
Starting Page	3085
Ending Page	3090
File Size	653657
Page Count	6
File Format	PDF
ISBN	0818653302
DOI	10.1109/ROBOT.1994.351095
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-05-08
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Error correction Couplings Satellite navigation systems Remotely operated vehicles Wheels Accelerometers Inertial navigation Vehicle driving Artificial satellites
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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