Белорусский национальный технический университет
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ISSN: 2310-7405
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  • Международные и республиканские конференции
  • Информационные технологии в образовании, науке и производстве
  • 2016
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  •   Repository BNTU
  • Материалы конференций и семинаров
  • Международные и республиканские конференции
  • Информационные технологии в образовании, науке и производстве
  • 2016
  • Материалы конференции по статьям
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Positioning and navigation motion control system for wheeled mobile robot

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Authors
Kurdi, M.
Dadykin, А.
Date
2016
Publisher
БНТУ
Bibliographic entry
Kurdi, M. Positioning and navigation motion control system for wheeled mobile robot / M. Kurdi, А. Dadykin // Информационные технологии в образовании, науке и производстве : IV Международная научно-техническая интернет-конференция, 18-19 ноября 2016 г. Секция Информационные технологии в производстве и научных исследованиях [Электронный ресурс]. – Минск : БНТУ, 2016.
Abstract
Being able to navigate accurately is one of the fundamental capabilities of a mobile robot to effectively execute a variety of tasks including docking, transportation, and manipulation. To achieve the desired navigation accuracy, mobile robots are typically equipped with on-board sensors to observe persistent features in the environment, to estimate their pose from these observations, and to adjust their motion accordingly. Odometry is the most widely used navigation method for mobile robot positioning because it provides good short-term accuracy, is inexpensive, and allows very high sampling rates. This paper presents experimental results of a new method for detecting and correcting odometry errors. The fundamental idea of odometry is the integration of incremental motion information over time, which leads inevitably to the accumulation of errors. Particularly, the accumulation of orientation errors will cause large position errors [1], which increase proportionally with the distance travelled by the robot. The errors arising during robot working were discussed and suggestions to correct these errors were presented.
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https://rep.bntu.by/handle/data/27248
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Positioning_and_Navigation_Motion_Control.pdf (332.8Kb)
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