Reduction of Odometry Error in a Two Wheeled Differential Drive Robot

被引：3
作者：
Ravikumar, T. Mathavaraj [1 ]
Saravanan, R. [2 ]
机构：
[1] United Inst Technol, Dept Mech Engn, Coimbatore 641020, Tamil Nadu, India
[2] JCT Coll Engn & Technol, Coimbatore 641105, Tamil Nadu, India
来源：
INTERNATIONAL JOURNAL OF ENGINEERING | 2014年 / 27卷 / 03期
关键词：
Mobile Robot; Odometry; Relative Localization; Response Surface Methodology; Excel Solver;
D O I：
10.5829/idosi.ije.2014.27.03c.02
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
Pose estimation is one of the vital issues in mobile robot navigation. Odometry data can be fused with absolute position measurements to provide better and more reliable pose estimation. This paper deals with the determination of better relative localization of a two wheeled differential drive robot by means of odometry by considering the influence of parameters, namely weight, velocity, wheel perimeter and tyre width. Experiments have been conducted based on central composite rotatable design matrix. A mathematical model has been developed for the robot with the help of MINITAB software. An optimum range and condition for minimum odometry error were obtained by using Response Surface Methodology (RSM) and Excel (XL) Solver respectively.
引用
收藏
页码：359 / 366
页数：8
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