Skip to Main content Skip to Navigation
Conference papers

Accuracy Improvement for a Redundant Vehicle

Abstract : This paper presents solutions to reduce the effects of wheel slippage and kinematic model uncertainty on low- level control and odometry of over-actuated wheeled mobile robots. Odometry aims at numerical integration of the robot direct kinematic model, whose errors are in part dues to model uncertainties. A parameter iden- tification can significantly improve the odometry accu- racy. Wheel slippage introduces large positioning er- rors. Therefore, robot control must be as smooth as possible, which is achieved by an approach to build a continuous motion. The last contribution is specific to omnidirectional robots with offset steered wheels. The redundancy property is used to reduce wheel slippage.
Document type :
Conference papers
Complete list of metadata
Contributor : Christine Carvalho de Matos <>
Submitted on : Tuesday, April 1, 2008 - 9:27:27 AM
Last modification on : Thursday, May 24, 2018 - 3:59:20 PM
Long-term archiving on: : Wednesday, March 29, 2017 - 2:49:31 PM


Files produced by the author(s)


  • HAL Id : lirmm-00268474, version 1



Julien Aragones, Geovany Araújo Borges, Alain Fournier. Accuracy Improvement for a Redundant Vehicle. ISR: International Symposium on Robotics, 2002, Stockholm, Sweden. ⟨lirmm-00268474⟩



Record views


Files downloads