Modeling and Estimating the Odometry Error of a Mobile Robot
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The odometry error of a mobile robot contains both sys- tematic and non-systematic components. The first ones are independent of the environment while the second ones depend on the interaction of the robot with the environ- ment where the robot moves. In t ...
This paper discusses mobile robot localization by means of geometric features from a laser range finder and a CCD camera. The features are line segments from the laser scanner and vertical edges from the camera. Emphasis is put on sensor models with a stro ...
This paper addresses the problem of the odometry error estimation during the robot navigation. The robot is equipped with an external sensor (like laser range finder). Concerning the systematic error an augmented Kalman Filter is introduced. This filter es ...
Mobile robot localization deals with uncertain sensory information as well as uncertain data association. In this paper we present a probabilistic feature-based approach to global localization and pose tracking which explicitly addresses both problems. Loc ...
We describe an incremental approach towards the development of autonomous indoor flyers that use only vision to navigate in textured environments. In order to cope with the severe weight and energy constraints of such systems, we use spiking neural control ...
This paper focuses on issues of odometry for the special case of synchronous drive wheeled mobile robots. In particular, the uncertainty in odometry is modeled by a four parameter statistical model already introduced in previous works together with a strat ...
Up to recently autonomous mobile robots were mostly designed to run within an indoor, yet partly structured and flat, environment. In rough terrain many problems arise and position tracking becomes more difficult. The robot has to deal with wheel slippage ...
This paper presents an error modeling of an odometry system for a synchronous-drive system and a possible strategy for evaluating this error. The odometry error is modeled by introducing four parameters characterizing its systematic and nonsystematic compo ...
Generally the classical control architecture used to carry out a robot position control is based on a classical industrial motion planner that needs encoders cabling and analog cabling to insure the regulation loop. This work proposes a Profibus PC based c ...