Mejoras En La Localización Odometrica De Un Robot Diferencial Mediante La Corrección De Errores Sistemáticos.
- Navarro García, Danilo
- Benet Gilabert, Ginés
- Ríos González, Luis Hernando
- Bueno López, Maximiliano
ISSN: 0122-1701
Argitalpen urtea: 2007
Alea: 5
Zenbakia: 37
Orrialdeak: 37-42
Mota: Artikulua
Beste argitalpen batzuk: Scientia et Technica
Laburpena
In spite of disadvantages of the odometric localization, it is widely used in mobile robots positioning system. Accuracy on the parameters of the kinematics model improves the localization results and contributes to reduce the operational costs. This paper proposes a simple method for differential-drive robot odometry calibration, where no special instruments are required. The localization system thus calibrated, showed a good capacity to estimate actual robot position, with errors below 10 % in path 40 meters long including 90- degrees turns on the spot.