Skip to main content
Disciplines
Automotive Business IT + Informatics Construction + Real Estate Electrical Engineering + Electronics Energy + Sustainability Insurance + Risk Finance + Banking Management + Leadership Marketing + Sales Mechanical Engineering + Materials
Events
DE
EN
Books
Journals
Topic Page
Marketing
Start single access now
Access for companies
EXTENDED SEARCH
Log in
Top
Published in:
Design of Comprehensive Quality Management System Based on SSI Read chapter Read first chapter

2017 | OriginalPaper | Chapter

Self-Calibration of Dead Reckoning Sensor for Skid-Steer Mobile Robot Localization Using Neuro-Fuzzy Systems

Authors : S. Rakesh kumar, K. Ramkumar, Seshadhri Srinivasan, Valentina Emilia Balas, Fuqian Shi

Published in: Information Technology and Intelligent Transportation Systems

Publisher: Springer International Publishing

Log in

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

Wheel slip affects the accuracy of dead-reckoning based localization techniques as they introduce measurement errors in odometers. This investigation presents a new slip compensation scheme that uses neuro-fuzzy technique for self-calibration of odometer. The proposed self calibration procedure can be executed in robot navigating environment rather than having a separate test platform and neuro-fuzzy system employed can able to learn the dynamics of wheel slip from the data autonomously. The wheel slip data are generated using the standard data generated by the laser range finder with known landmarks and measurement data from the odometer. The proposed technique is implemented on a four wheel mobile robot navigating in a concrete terrain and the localization performance was evaluated with mean square error (MSE) of 0.0382 m for a 6.12 m run during training phase and 0.0442 m for a 4.20 m test run of the robot.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

inform now
previous chapter Histogram Thresholding in Image Segmentation: A Joint Level Set Method and Lattice Boltzmann Method Based Approach
next chapter Indian Sign Language Recognition Using Optimized Neural Networks
Literature
1.
Cucci DA, Migliavacca M, Bonarini A, Matteucci M (2016) Development of mobile robots using off-the-shelf open-source hardware and software components for motion and pose tracking. Adv Intell Syst Comput Adv Intell Syst Comput 302:1451–1465
2.
McDermott J (2016) Wheeled mobile anthropomorphic sociorobots. Intell Syst Control Autom: Sci Eng vol 80, Article number A007, pp 101–131
3.
Kapoutsis AC, Chatzichristofis SA, Doitsidis L, de Sousa JB, Pinto J, Raga J, Kosmatopoulos EB (2015) Real-time adaptive multi-robot exploration with application to underwater map construction. Autonomous robots, 29 p
4.
Srinivasan S, Ayyagari, R. (2010) Consensus algorithm for robotic agents over packet dropping links. In: 2010 3rd international conference on biomedical engineering and informatics (BMEI), vol 6. IEEE, pp 2636–2640
5.
Srinivasan S, Ayyagari R (2012) Formation control in multi-agent systems over packet dropping links. In: Raol JR, Gopal AK (eds) Mobile intelligent autonomous systems. CRC Press, pp 113–128
6.
Luise DLD, Rancez LM, Biedma N, Elía BD (2015) A conscious model for autonomous robotics: statistical evaluation. Int J Adv Intell Paradig 7(1):82–107CrossRef
7.
Yi J, Wang H, Zhang J, Song D, Jayasuriya S, Liu J (2009) Kinematic modeling and analysis of skid-steered mobile robots with applications to low-cost inertial-measurement-unit-based motion estimation. IEEE Trans Robot 25(5):1087–1097CrossRef
8.
Cho B, Seo W, Moon W, Baek K (2013) Positioning of a mobile robot based on odometry and a new ultrasonic LPS. Int J Control Autom Syst 11(2):333–345CrossRef
9.
Canedo-Rodríguez A, Álvarez-Santos V, Regueiro CV, Iglesias R, Barro S, Presedo J (2016) Particle filter robot localisation through robust fusion of laser, WiFi, compass, and a network of external cameras. Inf Fus 27:170–188
10.
Ramkumar K, Manigandan NS (2012) Stochastic filters for mobile robot SLAM problems - a review. Sens Transducers 138(3):141–149
11.
Park J-T, Song J-B (2015) Sensor fusion-based exploration in home environments using information, driving and localization gains, Appl Soft Comput J 36:70–86
12.
Lee H-K, Choi K, Park J, Kim Y-H, Band S (2008) Improvement of dead reckoning accuracy of a mobile robot by slip detection and compensation using multiple model approach. In: IEEE/RSJ International conference on intelligent robots and systems, 2008. IROS 2008. pp 1140, 1147, 22–26
13.
Lee H, Jung J, Choi K, Park J, Myung H (2012) Fuzzy-logic-assisted interacting multiple model (FLAIMM) for mobile robot localization. Robot Auton Syst 60(12):1592–1606CrossRef
14.
Jung J, Lee H, Myung H (2013) Slip compensation of mobile robots using SVM and IMM. In: Advances in intelligent systems and computing - robot intelligence technology and applications 2012, vol 208, pp 5–12
15.
Filliata D, Meyer J-A (2003) Map-based navigation in mobile robots: I. A review of localization strategies. Cogn Syst Res 4:243–282CrossRef
16.
Glueck M, Oshinubi D, Schopp P, Manoli Y (2014) Real-time Autocalibration Of Mems Accelerometers. IEEE Trans Instrum Meas 63(1):96–105CrossRef
17.
Hemerly EM, Coelho FAA (2014) Explicit solution for magnetometer calibration. IEEE Trans Instrum Meas 63(8):2093–2095CrossRef
18.
Yan R-J, Wu J, Yuan C, Han CS (2014) Extraction of different types of geometrical features from raw sensor data of two-dimensional LRF. J Inst Control Robot Syst 21(3):265–275CrossRef
19.
20.
Jang JSR (1993) ANFIS: Adaptive-network-based fuzzy inference systems. IEEE Trans Syst Man Cybern 23:665–685CrossRef
21.
Gonzalez R, Rodriguez F, Guzman JL, Pradalier C, Siegwart R (2013) Control of off-road mobile robots using visual odometry and slip compensation. Adv Robot 27(11):893–906CrossRef
Metadata
Title
Self-Calibration of Dead Reckoning Sensor for Skid-Steer Mobile Robot Localization Using Neuro-Fuzzy Systems
Authors
S. Rakesh kumar
K. Ramkumar
Seshadhri Srinivasan
Valentina Emilia Balas
Fuqian Shi
Copyright Year
2017
Book
Information Technology and Intelligent Transportation Systems

Print ISBN: 978-3-319-38769-7

Electronic ISBN: 978-3-319-38771-0

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-38771-0_53

Premium Partner

    Image Credits