2004 | OriginalPaper | Chapter
A New Odometry System to Reduce Asymmetric Errors for Omnidirectional Mobile Robots
Authors : Alireza Fadaei Tehrani, Ali Mohammad Doosthosseini, Hamid Reza Moballegh, Peiman Amini, Mohammad Mehdi DaneshPanah
Published in: RoboCup 2003: Robot Soccer World Cup VII
Publisher: Springer Berlin Heidelberg
Included in: Professional Book Archive
Activate our intelligent search to find suitable subject content or patents.
Select sections of text to find matching patents with Artificial Intelligence. powered by
Select sections of text to find additional relevant content using AI-assisted search. powered by
This work describes an investigation to reduce positioning error of 3 wheel middle size robot by using a modified odometry system. In this technique the positioning sensor (shaft encoders) are mounted on 3 free-running wheels so the slippage of the driving wheels does not affect the measurements of the sensors. This will result in decreasing the cumulative error of the system. This mechanism accompanying by omnidirectional vision system presents reliable and accurate self-localization method for any 3 wheel driving robot. Experimental results have shown performance improvement up to 86% in orientation error and 80% in position error.