Experimental results from internal odometry error correction with the OmniMate mobile robot
- 1 January 1998
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics and Automation
- Vol. 14 (6) , 963-969
- https://doi.org/10.1109/70.736779
Abstract
This paper presents experimental results of test with a new method for detecting and correcting odometry errors without inertial or external-reference sensors. This method, called Internal Position Error Correction (IPEC), has been implemented on a new, commercially available mobile robot called "OmniMate," which was specifically designed for the implementation of the IPEC method. The results presented in this paper show that the OmniMate can improve odometric accuracy by one order of magnitude over conventional mobile robots. The foremost advantage of the OmniMate with IPEC over conventional mobile robots is that the OmniMate's odometry is almo st completely insensitive to even severe irregularities of the floor, such as bumps, cracks, or traversable objects. With conventional mobile robots such irregularities can cause large odometry errors with potentially catastrophic effects (i.e., mission failure), thus mandating fre- quent external registrations to correct for possible odometry errors. The OmniMate with IPEC, on the other hand, detects and corrects such non-systematic odometry errors, thus allowing more reliable travel over larger distances.Keywords
This publication has 10 references indexed in Scilit:
- Design of a holonomic omnidirectional vehiclePublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Mobile robot attitude estimation by fusion of inertial dataPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- A method for an autonomous mobile robot to recognize its position in the global coordinate system when building a mapPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Cooperative positioning with multiple robotsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Position estimation of a mobile robot using optical fiber gyroscope (OFG)Published by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- A new wheel control system for the omnidirectional HERMIES-III robotPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Inertial navigation systems for mobile robotsIEEE Transactions on Robotics and Automation, 1995
- Intemal correction of dead‐reckoning errors with a dual‐drive compliant linkage mobil robotJournal of Robotic Systems, 1995
- A new family of omnidirectional and holonomic wheeled platforms for mobile robotsIEEE Transactions on Robotics and Automation, 1994
- An Automatic Guidance System of a Self-Controlled VehicleIEEE Transactions on Industrial Electronics, 1987