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Odometry Calibration of a Chassis with Differential Steering

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26620%2F18%3APU128047" target="_blank" >RIV/00216305:26620/18:PU128047 - isvavai.cz</a>

  • Result on the web

    <a href="https://www.sciencedirect.com/science/article/pii/S2405896318308516" target="_blank" >https://www.sciencedirect.com/science/article/pii/S2405896318308516</a>

  • DOI - Digital Object Identifier

    <a href="http://dx.doi.org/10.1016/j.ifacol.2018.07.107" target="_blank" >10.1016/j.ifacol.2018.07.107</a>

Alternative languages

  • Result language

    angličtina

  • Original language name

    Odometry Calibration of a Chassis with Differential Steering

  • Original language description

    The paper presents a method for uncertainty estimates of the position and orientation of a chassis with differential steering acquired through the odometry technique. The proposed approach was tested on a real mechanical platform. The kinematic model parameters of a chassis and coefficients needed for uncertainty computation are calibrated via reference data from an RTK GNSS receiver. This method employs an analytical expression of uncertainty propagation and can be used as an alternative to standard approaches, mainly based on Kalman or particle filters. The advantages of the presented approach include the low computation demands, deterministic calibration process, and predictable behavior.

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

  • OECD FORD branch

    20204 - Robotics and automatic control

Result continuities

  • Project

    <a href="/en/project/EF15_003%2F0000470" target="_blank" >EF15_003/0000470: Robotics 4 Industry 4.0</a><br>

  • Continuities

    P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Others

  • Publication year

    2018

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Article name in the collection

    15th IFAC Conference on Programmable Devices and Embedded Systems PDeS 2018

  • ISBN

  • ISSN

    2405-8963

  • e-ISSN

  • Number of pages

    6

  • Pages from-to

    484-489

  • Publisher name

    Elsevier B.V.

  • Place of publication

    Amsterdam, The Netherland

  • Event location

    Ostrava

  • Event date

    May 23, 2018

  • Type of event by nationality

    WRD - Celosvětová akce

  • UT code for WoS article

    000445644900082