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- Sudhan Kanitkar
J. Borenstein, L. Feng.
What is Odometry ?
Errors in Odometry
Systematic
Errors in Odometry
Non-Systematic
Slippery floor
Overacceleration
Fast turning
Interaction with external bodies
Internal forces(castor wheel)
Non-point wheel contact with floor
Measurement of Odometry
Errors
Ed = D R / D L
Eb = bactual / bnominal
Robot starts at a
position x0,y0,0
labelled START
Then it moves along a
square path to a return
position x,y,
x = xabs xcalc
y = yabs ycalc
= abs calc
Drawback
It is not possible to
determine whether
unequal diameters
or uncertainty
about wheelbase is
causing the error
Not able to identify
if two errors
compensate each
other
UMBmark test
Measurement of Non-Systemic
Errors
Extended UMBmark
Average Absolute
Orientation Error
Measurable Parameter
Specifications about
Bumps
Reduction of Odometry
Errors
Auxiliary Wheels
Systematic Calibration
Determining Type A or B
Type A
Type B
Computation for
Diameters
= (xc.g,cw - xcg.,ccw)/(-4L)
= (xc.g,cw + xcg.,ccw)/(-4L)
R = (L/2)/sin(/2)
Ed = DR/DL = (R+b/2)/(R-b/2)
Computation for
wheelbase
bactual/90 = bnominal/(90-)
Hence,
Eb = 90/90-
Corrections
Da = (DR + DL)/2
DL = 2.Da / (Ed + 1)
DR = 2.Da / ((1/Ed) + 1)
Results
Mutual Referencing
IPEC
CLAPPER
CLAPPER
Le line where A
expects B to be
Lm line where A
actually finds B
Even if B hit a bump
orientation error
measurement wont
be affected
Smart
Encoder
Trailer