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JÍLEK, T. BURIAN, F. KŘÍŽ, V.
Original Title
Odometry Calibration of a Chassis with Differential Steering
Type
conference paper
Language
English
Original Abstract
The paper presents a method for uncertainty estimates of the position and orientation of a chassis with differential steering acquired through the odometry technique. The proposed approach was tested on a real mechanical platform. The kinematic model parameters of a chassis and coefficients needed for uncertainty computation are calibrated via reference data from an RTK GNSS receiver. This method employs an analytical expression of uncertainty propagation and can be used as an alternative to standard approaches, mainly based on Kalman or particle filters. The advantages of the presented approach include the low computation demands, deterministic calibration process, and predictable behavior.
Keywords
Mobile robot;chassis;differential steering;uncertainty estimates;odometry;position
Authors
JÍLEK, T.; BURIAN, F.; KŘÍŽ, V.
Released
3. 9. 2018
Publisher
Elsevier B.V.
Location
Amsterdam, The Netherland
ISBN
2405-8963
Periodical
IFAC-PapersOnLine (ELSEVIER)
Year of study
51
Number
6
State
Kingdom of the Netherlands
Pages from
484
Pages to
489
Pages count
URL
https://www.sciencedirect.com/science/article/pii/S2405896318308516
BibTex
@inproceedings{BUT147810, author="Tomáš {Jílek} and František {Burian} and Vlastimil {Kříž}", title="Odometry Calibration of a Chassis with Differential Steering", booktitle="15th IFAC Conference on Programmable Devices and Embedded Systems PDeS 2018", year="2018", journal="IFAC-PapersOnLine (ELSEVIER)", volume="51", number="6", pages="484--489", publisher="Elsevier B.V.", address="Amsterdam, The Netherland", doi="10.1016/j.ifacol.2018.07.107", issn="2405-8963", url="https://www.sciencedirect.com/science/article/pii/S2405896318308516" }