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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Communication dans un congrès
ISR: International Symposium on Robotics, 2002, Stockholm, Sweden. Proceedings of the 33rd ISR (International Symposium on Robotics) October 7-11, 2002, 2002
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00268474
Contributeur : Christine Carvalho de Matos <>
Soumis le : mardi 1 avril 2008 - 09:27:27
Dernière modification le : jeudi 11 janvier 2018 - 06:14:31
Document(s) archivé(s) le : mercredi 29 mars 2017 - 14:49:31

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  • HAL Id : lirmm-00268474, version 1

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Julien Aragones, Geovany Araújo Borges, Alain Fournier. Accuracy Improvement for a Redundant Vehicle. ISR: International Symposium on Robotics, 2002, Stockholm, Sweden. Proceedings of the 33rd ISR (International Symposium on Robotics) October 7-11, 2002, 2002. 〈lirmm-00268474〉

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