We are developing a mobile robot capable of emulating general 6-degree-of-freedom spacecraft relative motion. The omni-directional base uses a trio of active split offset castor drive modules to provide smooth, holonomic, precise control of its motion. Encoders measure the rotations of the six wheels and the three castor pivots. We present a generic odometric algorithm using a least squares framework which is applicable to vehicles with two or more castors and apply it to our unique vehicle configuration. As the accuracy of odometry algorithms depends on the accuracy to which the model parameters are known, a method to perform calibration on the physical robot is needed. We present a geometric calibration method based solely on internal sensor measurements. We present a range of simulation results comparing our odometry results to other algorithms under various systematic and non-systematic errors. We evaluate the ability of our calibration method to accurately determine the true values of our system parameters. The odometry algorithm was also implemented and tested in hardware on our robotic platform. The results presented in the paper validate the calibration and odometry algorithms in both simulation and hardware.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Odometry and calibration methods for multi-castor vehicles


    Contributors:
    Doebbler, J. (author) / Davis, J.J. (author) / Junkins, J.L. (author) / Valasek, J. (author)


    Publication date :

    2008


    Size :

    6 Seiten, 12 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Fusing Optimal Odometry Calibration and Partial Visual Odometry via A Particle Filter for Autonomous Vehicles Navigation

    S.A. Ávila-Martínez / J.C. Martínez Romo / F.J. Luna Rosas et al. | BASE | 2021

    Free access

    Calibration of Front Wheel Odometry Model

    Fazekas, Máté / Gáspár, Péter / Németh, Balázs | Springer Verlag | 2022


    3D Visual Odometry for Road Vehicles

    García García, Rufino / Sotelo, Miguel Ángel / Parra Alonso, Ignacio et al. | BASE | 2008

    Free access

    Visual odometry and mapping for Underwater Autonomous Vehicles

    Costa Botelho, Silvia Silva / Drews, Paulo / Oliveira, Gabriel Leivas et al. | Tema Archive | 2009


    Fail-aware LIDAR-based odometry for autonomous vehicles

    García Daza, Iván / Rentero Alonso de Linaje, Mónica / Salinas Maldonado, Carlota et al. | BASE | 2020

    Free access