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Kinematic Correction of n Differential Drive Mobile Robot and a Design for the Reference-Velocity Trajectory with Acceleration-Resolution Constraint on Motor Controllers

차동 구륜이동로봇의 기구학적 보정과 모터제어기의 가속도 해상도 제약을 고려한 기준속도궤적의 설계

  • 문종우 (부산정보대학교 전기전자계열) ;
  • 김종수 (상지대학교 전자계산학과) ;
  • 박세승 (조선대학교 전자정보통신공학부)
  • Published : 2002.06.01

Abstract

Reducing odometer errors caused by kinematic imperfections in wheeled mobile robots is imestigated. Wheel diameters and wheelbase are corrected by using encoders without landmarks. A new velocity trajectory is proposed that compensates for an orientation error due to acceleration- resolution constraints on motor controllers. Based on this velocity trajectory, the wheel velocity of one out of two driven wheels may be changed by the traveled distance of the mobile robot. It is shown that a wheeled mobile robot can't move along a straight line exactly, even if kinematic correction are achieved perfectly, and this phenomenon is attributable to acceleration-resolution constraints on motor controllers. We experiment on a wheeled mobile robot with 2 d.o.f. are used in the experiment to verify the proposed scheme.

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