Ivanjko et al

Ivanjko et al.

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• Parameters of the Robot
• Initialization
• Procedure
• Calibration
  • Optimal value search of {kDR,kDL}
  • Optimal value search of {kb}
  • Optimization algorithm

Parameters of the Robot (up)

• Di: diameter of the wheels
• b: distance between the right and left wheels
• n: reduction ratio ([n:1]) of the transmission coupled with each motor of the wheels
• Ce: resolution (ppr) of the encoder coupled with each motor of the wheels

Initialization (up)

Note: this method does not have any restriction in terms of the parameters initialization. Note that K * kinParam is the value used in each iteration of this algorithm.

Procedure (up)

1. Measure the absolute position of the robot and initialise the odometry system with that position
2. Run the robot through a 5m straight line:
   • Stop after completing the straight line
   • Measure the absolute pose of the robot
   • Save the odometry data (impulses count)
3. Run the robot through a 180º "on-the-spot" rotation in CW (clockwise) direction:
   • Stop after completing the rotation
   • Measure the absolute pose of the robot
   • Save the odometry data (impulses count)
4. Repeat steps 3 in CCW (counter-clockwise) direction
5. Repeat steps 1-4 for four more times (number of total runs: 5)
6. Perform the optimisation procedure
7. Adjust the robot parameters

Calibration (up)

Optimal value search of {kDR,kDL} (up)

Optimal value search of {kb} (up)

Optimization algorithm (up)

1. Initialise the adjustment parameters:
   • Kd = [1,1]
   • Kb = [1]
2. Optimise Kd (note: in this step, only the data retrieve from the straight line is used)
3. Optimise Kb (note: in this step, only the data retrieve from the "on-the-spot" rotations is used)
4. Adjust the robot parameters
   • b = Kb * b
   • Dr = Kd(1) * Dr
   • Dl = Kd(2) * Dl
5. Repeat steps 1-4 if the parameters variation was less than, e.g., 0.1%

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