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  • 标题:Auto-Calibration Methods of Kinematic Parameters and Magnetometer Offset for the Localization of a Tracked Mobile Robot
  • 本地全文:下载
  • 作者:Luciano Cantelli ; Samuel Ligama
  • 期刊名称:Robotics
  • 电子版ISSN:2218-6581
  • 出版年度:2016
  • 卷号:5
  • 期号:4
  • 页码:23
  • DOI:10.3390/robotics5040023
  • 语种:English
  • 出版社:MDPI Publishing
  • 摘要:This paper describes an automatic calibration procedure adopted to improve the localization of an outdoor mobile robot. The proposed algorithm estimates, by using an extended Kalman filter, the main kinematic parameters of the vehicles, such as the wheel radii and the wheelbase as well as the magnetometer offset. Several trials have been performed to validate the proposed strategy on a tracked electrical mobile robot. The mobile robot is aimed to be adopted as a tool to help humanitarian demining operations.
  • 关键词:localization; field robot; kinematic parameters calibration localization ; field robot ; kinematic parameters calibration
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