Self-Calibration in Differential Drive Dynamics/Kinematics Model

Proceedings of the 2013 International Conference on Systems, Control and Informatics (SCI 2013) 2013
Mārtiņš Ekmanis

Localization and path planning is an essential elements of mobile robots but it relies on model availability. It is difficult to obtain robot dynamics/kinematics model due to lot of constants and variables. This paper proposes a highly adaptable and universal method for obtaining differential drive robot model by self-calibration. The obtained model is based on linear time invariant assumption and accepts sensor-less prediction as well as hybrid mode, where encoder’s data are filtered against the model. Theoretical background and experimental proof of model quality is included in this paper.

Atslēgas vārdi
dynamics model; self-calibration; localization; robotics
Hipersaite
http://www.europment.org/library/2013/venice/bypaper/SCI/SCI-21.pdf

Ekmanis, M. Self-Calibration in Differential Drive Dynamics/Kinematics Model. No: Proceedings of the 2013 International Conference on Systems, Control and Informatics (SCI 2013), Itālija, Venice, 28.-30. septembris, 2013. Venice: Europment, 2013, 145.-150.lpp. ISBN 9781618042064.

Publikācijas valoda
English (en)