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Conference Papers Year : 2002

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.
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Dates and versions

lirmm-00268474 , version 1 (01-04-2008)

Identifiers

  • HAL Id : lirmm-00268474 , version 1

Cite

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