A Study on SLAM Based on Probabilistic Motion Model of Mobile Robot

Based on kinematics characteristic of two-wheeled differential drive mobile robot (WMR) and response characteristic of fact motor drive system, this paper presents the analysis method of the equivalent rotation inertia, and the entire vehicle load is assigned to each wheel, and then the wheel load is converted into the corresponding equivalent rotation inertia of the motor shaft of each wheel, and motion model of WMR are obtained for combining with quasi-equivalent (QE) state space model of double-loop direct current motor systems under variable load and kinematics model of WMR under the load changes. By using speed response data of the actual system and combining with genetic algorithm to accurately identify the model parameters. Finally, through experiments results of the WMR motion model and the second order model respectively comparing with the actual system which demonstrates the effectiveness of the proposing method and model.

Download Full-text

Accurate localization of mobile robot under the weakly callibrated motion model

2012 IEEE 8th International Conference on Intelligent Computer Communication and Processing ◽

10.1109/iccp.2012.6356177 ◽

2012 ◽

Author(s):

Pangyu Jeong ◽

Dan Pojar ◽

Sergiu Nedevschi

Keyword(s):

Mobile Robot ◽

Motion Model ◽

Accurate Localization

Download Full-text

Quasi-equivalent Coupling Motion Model of Two-Wheeled Differentially Driven Mobile Robot

Proceedings of the 2015 Chinese Intelligent Automation Conference - Lecture Notes in Electrical Engineering ◽

10.1007/978-3-662-46466-3_19 ◽

2015 ◽

pp. 181-194

Author(s):

Niu Wang ◽

Zhihu Ruan ◽

Bingxin Ran ◽

Rongzheng Fang

Keyword(s):

Mobile Robot ◽

Motion Model ◽

Coupling Motion

Download Full-text

Prototyping of Kinematics Simulator for Supporting Autonomous Mobile Robot Development

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2016.p0470 ◽

2016 ◽

Vol 28 (4) ◽

pp. 470-478 ◽

Cited By ~ 2

Author(s):

Kitaro Shimane ◽

◽

Ryo Ueda ◽

Susumu Tarao

Keyword(s):

Mobile Robot ◽

Robot Control ◽

Autonomous Mobile Robot ◽

Motion Model ◽

Simulation Experiments ◽

Occupancy Grid ◽

Sensor Model ◽

Environment Model ◽

Geometric Relationship ◽

Basic Configuration

[abstFig src='/00280004/05.jpg' width='300' text='Appearance of the kinematics simulator' ] A kinematics simulator for an autonomous mobile robot has been proposed to simulate complicated motions such as those caused by the interaction between a robot and its environment in terms of geometric relationship. The simulator is expected to assist in the development of a robot control system for autonomous running in the real world. This paper presents the simulator concept, its basic configuration, and the results of preliminary simulation experiments, which have been performed to evaluate a simple motion model, and an environment model based on occupancy grid maps and a laser range finder pseudo sensor model consisting of a typical probabilistic density. The results of the simulation experiments using the aforementioned multiple models are also presented to demonstrate that the simulator can perform in various numerical environments.

Download Full-text