Kinematic Models for Odometry of a Six-Wheeled Mobile Robot

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• 作者：T. Jilek^* ; ^{jilekt@feec.vutbr.cz} ; F. Burian^* ; ^{burianf@feec.vutbr.cz} ; V. Kriz^* ; ^{vlastimil.kriz@phd.feec.vutbr.cz}
• 关键词：position estimation ; robot kinematics ; model approximation ; mobile robots ; robot calibration ; global positioning systems
• 刊名：IFAC-PapersOnLine
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：49
• 期：25
• 页码：305-310
• 全文大小：925 K
• 卷排序：49

文摘

Paper describes kinematic models of a mobile robot with a six-wheeled chassis. These models can be used for estimation of its position and orientation using an odometry method. Basic model, advanced model, and model based on polynomial replacements are introduced. Steps of model identification are discussed. Described models are applied on data from a real mobile robot and there is evaluated position and azimuth error of odometry solution. Global navigation satellite systems in real time kinematic mode were used as a reference positioning system for evaluation of accuracy of odometry solution.