Odometer Module for Mobile Robot with Position Error Estimation
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26220%2F16%3APU120609" target="_blank" >RIV/00216305:26220/16:PU120609 - isvavai.cz</a>
Result on the web
<a href="https://www.sciencedirect.com/science/article/pii/S2405896316327008" target="_blank" >https://www.sciencedirect.com/science/article/pii/S2405896316327008</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.ifacol.2016.12.063" target="_blank" >10.1016/j.ifacol.2016.12.063</a>
Alternative languages
Result language
angličtina
Original language name
Odometer Module for Mobile Robot with Position Error Estimation
Original language description
In this article, an odometry module for a mobile robot with probabilistic position estimation is proposed. The localization processing is based on Extended Kalman Filter (EKF) from which only prediction phase is used. This configuration is prepared for a possible later extension with Global navigation satellite system (GNSS). Scale factor correction and University of Michigan Benchmark test (UMBmark) measurements were concluded to correct model parameters of the robot. The correction outcome was tested on an experiment with simultaneous Global Positioning System (GPS) and odometry localization. The realized differential drive mobile robot has an optical encoder for each wheel. They are connected to STM32F4 development board which calculates the odometric data and sends them with a time-stamp from GPS module over the Bluetooth to PC. Visualization and control program was created to log and store the odometric data and also to set up the odometric parameters in the firmware of the microcontroller.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20201 - Electrical and electronic engineering
Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of 14th IFAC INTERNATIONAL CONFERENCE on PROGRAMMABLE DEVICES and EMBEDDED SYSTEMS
ISBN
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ISSN
1474-6670
e-ISSN
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Number of pages
6
Pages from-to
346-351
Publisher name
Neuveden
Place of publication
Neuveden
Event location
Brno/Lednice
Event date
Oct 5, 2016
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000401255800059