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Lin et al
Ricardo B. Sousa edited this page Jan 25, 2021
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Parameters of the Robot (up)
- Di: diameter of the 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
Three-wheeled omnidirectional robot:
- l: distance from the robot's geometric center to the wheels' contact point with the ground
Four-wheeled omnidirectional robot:
- l1: distance between the robot's front and rear wheels
- l2: distance between the robot's left and right wheels
Procedure (up)
- Measure the absolute position and orientation (note: the method requires both position and orientation data) of the robot and initialize the odometry system with that position
- 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 l 180º curve (v{l+1} = r% * v{l} or vn{l+1} = r% * vn{l})
- Measure the absolute pose after the robot has gone through 0.5m linear displacement (based on odometry)
- Repeat steps 1-2 if needed (for noise robustness)
- Repeat steps 1-3 in CCW direction
- Omnidirectional robot: repeat steps 1-4 with linear velocity in direction of vn
- Perform the optimization procedure
- Adjust the robot parameters given the result from the previous step
Calibration (up)
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