• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>IEEE International Conference on Mechatronics and Automation >A novel odometry model for wheeled mobile robots incorporating linear acceleration
【24h】

A novel odometry model for wheeled mobile robots incorporating linear acceleration

机译：具有线性加速度的轮式移动机器人的新型里程表模型

获取原文
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

One of the fundamental problems in mobile robotics is simultaneous localisation and mapping (SLAM), where one or more robots build a map and localise within the map at the same time. Many mobile robots have differential drive wheels with pneumatic tyres. These robots are dependent on odometry pose estimation when performing map building or localisation tasks. Currently a three parameter odometry estimation model is widely used [1-2] consisting of the left and right wheel radii and wheel separation distance. This paper introduces a new fourth parameter that accounts for wheel slip proportional to linear acceleration of the robot. To the authors' knowledge, this is the first robot odometry model that accounts for linear acceleration in a differential wheeled robot. The model requires little extra computation and accelerations can be obtained from existing robot motion commands. We experimentally validate our new odometry model on a hard lino floor. Experimental results show an error range of 9% in the estimation of the wheel radii when a Pioneer2 DX H-8 indoor mobile robot accelerates and decelerates on straight paths at an acceleration value of ±0.45 m / s. We use another independent experiment to show a 0.3% improvement of the quality of the occupancy grid (OG) map [3] built using the three parameters model. The maps were generated by attaching laser scans to robot poses based only on odometry estimation. For fairness in the number of parameters, we also compare our model with another four parameter model. The experimental results also demonstrate two methods for calibration of the new model.
机译：移动机器人技术的基本问题之一是同时定位和地图绘制（SLAM），其中一个或多个机器人构建地图并同时在地图中定位。许多移动机器人都有带气动轮胎的差速器驱动轮。这些机器人在执行地图构建或定位任务时依赖于里程表姿势估计。当前，由左，右车轮半径和车轮分离距离组成的三参数里程计估计模型已被广泛使用[1-2]。本文介绍了一个新的第四参数，该参数说明了与机器人线性加速度成比例的车轮打滑。据作者所知，这是第一个解释差速轮式机器人线性加速度的机器人里程计模型。该模型几乎不需要额外的计算，并且可以从现有的机器人运动命令中获得加速度。我们在坚硬的lino地板上实验性地验证了我们的新里程表模型。实验结果表明，当Pioneer2 DX H-8室内移动机器人在直线路径上以±0.45 m / s的加速度进行加速和减速时，车轮半径的估计误差范围为9％。我们使用另一个独立的实验来显示使用三个参数模型构建的占用网格（OG）地图[3]的质量提高了0.3％。这些地图是通过仅基于里程计估算将激光扫描附加到机器人姿势上而生成的。为了保证参数数量的公平性，我们还将模型与其他四个参数模型进行了比较。实验结果还证明了两种校准新模型的方法。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号