Detail publikačního výsledku

Kinematic Models for Odometry of a Six-Wheeled Mobile Robot

JÍLEK, T.; BURIAN, F.; KŘÍŽ, V.

Originální název

Kinematic Models for Odometry of a Six-Wheeled Mobile Robot

Anglický název

Kinematic Models for Odometry of a Six-Wheeled Mobile Robot

Druh

Stať ve sborníku v databázi WoS či Scopus

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 identi cation 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.

Anglický 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 identi cation 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

Klíčová slova v angličtině

position estimation, robot kinematics, model approximation, mobile robots, robot calibration, global positioning systems

Autoři

JÍLEK, T.; BURIAN, F.; KŘÍŽ, V.

Rok RIV

2017

Vydáno

23.12.2016

Nakladatel

Elsevier

Kniha

14th IFAC Conference on Programmable Devices and Embedded Systems PDES 2016

ISSN

2405-8963

Periodikum

IFAC-PapersOnLine

Svazek

49

Číslo

25

Stát

Spojené království Velké Británie a Severního Irska

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",
  volume="49",
  number="25",
  pages="305--310",
  publisher="Elsevier",
  doi="10.1016/j.ifacol.2016.12.054",
  issn="2405-8971",
  url="http://www.sciencedirect.com/science/article/pii/S2405896316326908"
}