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Detail publikace
JÍLEK, T. BURIAN, F. KŘÍŽ, V.
Originální název
Kinematic Models for Odometry of a Six-Wheeled Mobile Robot
Typ
článek ve sborníku ve WoS nebo Scopus
Jazyk
angličtina
Originální abstrakt
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 identication 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.
Klíčová slova
position estimation, robot kinematics, model approximation, mobile robots, robot calibration, global positioning systems
Autoři
JÍLEK, T.; BURIAN, F.; KŘÍŽ, V.
Vydáno
23. 12. 2016
Nakladatel
Elsevier
ISSN
2405-8963
Periodikum
IFAC-PapersOnLine (ELSEVIER)
Ročník
49
Číslo
25
Stát
Nizozemsko
Strany od
305
Strany do
310
Strany počet
6
URL
http://www.sciencedirect.com/science/article/pii/S2405896316326908
BibTex
@inproceedings{BUT128784, author="Tomáš {Jílek} and František {Burian} and Vlastimil {Kříž}", title="Kinematic Models for Odometry of a Six-Wheeled Mobile Robot", booktitle="14th IFAC Conference on Programmable Devices and Embedded Systems PDES 2016", year="2016", journal="IFAC-PapersOnLine (ELSEVIER)", volume="49", number="25", pages="305--310", publisher="Elsevier", doi="10.1016/j.ifacol.2016.12.054", issn="2405-8963", url="http://www.sciencedirect.com/science/article/pii/S2405896316326908" }