Kallasi et al

Kallasi et al.

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• Parameters of the Robot
• Procedure
• Calibration
  • Angular displacement
  • Least-squares algorithm
  • Kinematic parameters

Parameters of the Robot (up)

• D: diameter of the driven/front wheel
• l: distance between the front and the rear wheels
• αoff: steering angle offset
• 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

Procedure (up)

1. Measure the absolute orientation of the robot and initialize the odometry system with that position
2. Run the robot through a curvilinear motion in CW direction (ω < 0):
   • Set the initial radius (R0) taking into consideration the available space (ω0 = v / R0 or ω0 = vn / R0)
   • Set a radius decreasing ration (r%)
   • Update the linear velocities of the robot after each 180º curve (v{l+1} = r% * v{l} or vn{l+1} = r% * vn{l})
   • Measure the absolute orientation after the robot has gone through a 180º curve (based on odometry)
3. Repeat steps 1-2 if needed (for noise robustness)
4. Repeat steps 1-3 in CCW direction
5. Compute the kinematic parameters using the least-squares algorithm
6. Adjust the robot parameters given the result from the previous step

Calibration (up)

Angular displacement (up)

Least-squares algorithm (up)

Kinematic parameters (up)

(back)