Detail publikace

Odometer Module for Mobile Robot with Position Error Estimation

DAVÍDEK, D. HORÁK, K. NOVÁČEK, P. KLEČKA, J.

Originální název

Odometer Module for Mobile Robot with Position Error Estimation

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

Originální abstrakt

In this article, an odometry module for a mobile robot with probabilistic position estimation is proposed. The localization processing is based on Extended Kalman Filter (EKF) from which only prediction phase is used. This configuration is prepared for a possible later extension with Global navigation satellite system (GNSS). Scale factor correction and University of Michigan Benchmark test (UMBmark) measurements were concluded to correct model parameters of the robot. The correction outcome was tested on an experiment with simultaneous Global Positioning System (GPS) and odometry localization. The realized differential drive mobile robot has an optical encoder for each wheel. They are connected to STM32F4 development board which calculates the odometric data and sends them with a time-stamp from GPS module over the Bluetooth to PC. Visualization and control program was created to log and store the odometric data and also to set up the odometric parameters in the firmware of the microcontroller.

Klíčová slova

Keywords: Mobile robots, Extended Kalman filters, Odometry, Localisation error, Visualisation, Differential drive, Incremental encoders, GPS, UMBmark, Scale factor

Autoři

DAVÍDEK, D.; HORÁK, K.; NOVÁČEK, P.; KLEČKA, J.

Vydáno

6. 10. 2016

ISSN

1474-6670

Periodikum

Programmable devices and systems

Ročník

2016

Číslo

14

Stát

Spojené království Velké Británie a Severního Irska

Strany od

346

Strany do

351

Strany počet

6

URL

https://www.sciencedirect.com/science/article/pii/S2405896316327008

BibTex

@inproceedings{BUT128852,
  author="Daniel {Davídek} and Karel {Horák} and Petr {Nováček} and Jan {Klečka}",
  title="Odometer Module for Mobile Robot with Position Error Estimation",
  booktitle="Proceedings of 14th IFAC INTERNATIONAL CONFERENCE on PROGRAMMABLE DEVICES and EMBEDDED SYSTEMS",
  year="2016",
  journal="Programmable devices and systems",
  volume="2016",
  number="14",
  pages="346--351",
  doi="10.1016/j.ifacol.2016.12.063",
  issn="1474-6670",
  url="https://www.sciencedirect.com/science/article/pii/S2405896316327008"
}