On-Board Correction of Systematic Odometry Errors in Differential Robots

被引：0

作者：

Maldonado-Bascon, S. ^{[1
]}

Lopez-Sastre, R. J. ^{[1
]}

Acevedo-Rodriguez, F. J. ^{[1
]}

Gil-Jimenez, P. ^{[1
]}

机构：

[1] Univ Alcala, Escuela Politecn Super, Dept Signal Theory & Commun, Madrid, Spain

来源：

JOURNAL OF SENSORS | 2019年 / 2019卷

关键词：

D O I：

10.1155/2019/8269256

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

An easier method for the calibration of differential drive robots is presented. Most calibration is done on-board and it is not necessary to spend too much time taking note of the robot's position. The calibration method does not need a large free space to perform the tests. The bigger space is merely in a straight line, which is easy to find. The results with the method presented are compared with those from UMB for reference, and they show very little deviation while the proposed calibration is much simpler.

引用

页数：8

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