Detail publikace

Odometry Calibration of a Chassis with Differential Steering

JÍLEK, T. BURIAN, F. KŘÍŽ, V.

Originální název

Odometry Calibration of a Chassis with Differential Steering

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

Originální abstrakt

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.

Klíčová slova

Mobile robot;chassis;differential steering;uncertainty estimates;odometry;position

Autoři

JÍLEK, T.; BURIAN, F.; KŘÍŽ, V.

Vydáno

3. 9. 2018

Nakladatel

Elsevier B.V.

Místo

Amsterdam, The Netherland

ISSN

2405-8963

Periodikum

IFAC-PapersOnLine (ELSEVIER)

Ročník

51

Číslo

6

Stát

Nizozemsko

Strany od

484

Strany do

489

Strany počet

6

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"
}