Robot Odometry Correction Using Grid Lines on the Floor
نویسنده
چکیده
This paper presents an algorithm to correct the odometry error of an autonomous mobile robot only by using a painted grid on the floor. The supposed robot position is calculated by odometry and is matched with the grid lines, whose existence is known to the robot. A new “position probability function” was developed and used by the correction algorithm. The correction of the odometry error is also based on interactive trajectory modification, in order to reduce the error when crossing a line.
منابع مشابه
Robot Positioning by Supervised and Unsupervised Odometry Correction
The aim of this thesis is to perform robot positioning, based on an odometry which is continuously corrected by different landmark detection systems demanding as less modifications as possible for the environment. Two independent correction systems (a supervised and an unsupervised) were implemented into two different experiences which represent the subject of this thesis. The supervised experi...
متن کاملReduction of Odometry Error in a two Wheeled Differential Drive Robot (TECHNICAL NOTE)
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 p...
متن کاملExtraction of Orientation from Floor Structure for Odometry Correction in Mobile Robotics
We are presenting a method for correcting odometry readings of a robot for increased accuracy of position estimation. Our method uses a simple pragmatic approach and exploits the distinct structure of the floor in our experimental area. By continually extracting orientation information from the floor view, we are able to correct the heading component of odometry, thereby eliminating the major s...
متن کاملLocalization of a Mobile Robot based in Odometry and Natural Landmarks using Extended Kalman Filter
Abstract: This work proposes a localization system for mobile robots using the Extended Kalman Filter. The robot navigates in an known environment where the lines of the floor are used as natural landmarks and identifiqued by using the Hough transform.The prediction phase of the Kalman Filter is implemented using the odometry model of the robot. The update phase directly uses the parameters of ...
متن کاملThe OmniMate mobile robot-design, implementation, and experimental results
This paper introduces a new mobile robot for hazardous environments and for industrial applications. The robot, called OmniMate, has full omnidirectional motion capabilities, can detect and correct odometry errors without external references, and offers a large 183×91 cm (72×36”) loading deck. A patented, so-called compliant linkage avoids the excessive wheel slippage often found in other omnid...
متن کامل