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An efficient approach to pose tracking based on odometric error modelling for mobile robots

Published online by Cambridge University Press:  01 April 2014

Jingdong Yang ,
Jinghui Yang  and
Zesu Cai
Jingdong Yang*
Affiliation:
School of Optical-Electrical and Computer Engineering, Shanghai Key Lab of Modern Optical System, University of Shanghai for Science and Technology, Shanghai 200093, China
Jinghui Yang
Affiliation:
School of Business Management, Shanghai Second Polytechnic University, Shanghai 201209, China
Zesu Cai
Affiliation:
Department of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China
*
*Corresponding author. E-mail: eerfriend@126.com
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Summary

Odometric error modelling for mobile robots is the basis of pose tracking. Without bounds the odometric accumulative error decreases localisation precision after long-range movement, which is often not capable of being compensated for in real time. Therefore, an efficient approach to odometric error modelling is proposed in regard to different drive type mobile robots. This method presents a hypothesis that the motion path approximates a circular arc. The approximate functional expressions between the control input of odometry and non-systematic error as well as systematic error derived from odometric error propagation law. Further an efficient algorithm of pose tracking is proposed for mobile robots, which is able to compensate for the non-systematic and systematic error in real time. These experiments denote that the odometric error modelling reduces the accumulative error of odometry efficiently and improves the specific localisation process significantly during autonomous navigation.

Keywords

Extended Kalman filterOdometric error modellingNon-systematic error covariancePose estimateGlobal localisation

Information

Type
Articles
Information
Robotica , Volume 33 , Issue 6 , July 2015 , pp. 1231 - 1249
Copyright
Copyright © Cambridge University Press 2014 

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