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