Range Sensing, Localization, and Error Elimination of Two-Wheeled Mobile Robots
Date Issued
2009
Date
2009
Author(s)
Tseng, Kuan-Chieh
Abstract
Wheeled Mobile Robots (WMRs) with range sensors are very popular platforms in robot navigation. Velocities of WMRs are controlled by some theories or algorithms, and sensor information of WMRs is received to decide new control commands. In real situation, some biased errors in actuating part and sensing part of WMRs will cause unexpected experimental results. any studies have been introduced to correct unbiased errors by probability model and some robust algorithms are mentioned to let WMRs tolerate errors. However, few researches are mentioned about the bias error correction. n this thesis, a two-wheeled mobile robot (TWMR) is the platform and the bias errors about postures of TWMR, i.e., effects of skidding and slipping, are classified and modeling. In order to correct the posture information, the data of range sensors are processed as localization methods to eliminate the external error which encoder odometry cannot detected. fter that, two concepts about localization method fusion and error elimination architecture are mentioned. The former combines the results of localization methods and determines the best results based on the performance of localization methods in different scenarios. The latter contains the former and makes the posture information more reliable. Besides, it corrects the encoder odometry with the knowledge of skidding and slipping.
Subjects
Mobile robot
error elimination
odometry
localization
skidding and slipping
sensor fusion
Type
thesis
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