A study on test method for evaluation of mobile robot trajectory estimation

2021 ◽  
Author(s):  
Suhan Lee ◽  
Seungsub Oh
Keyword(s):  
Mobile Robot ◽  
Test Method ◽  
Trajectory Estimation ◽  
Robot Trajectory

Trajectory estimation of a skid-steering mobile robot propelled by independently driven wheels

Robotica ◽  
2011 ◽  
Vol 30 (1) ◽  
pp. 123-132 ◽  
Author(s):  
Tokuji Okada ◽  
Abeer Mahmoud ◽  
Wagner Tanaka Botelho ◽  
Toshimi Shimizu
Keyword(s):  
Mobile Robot ◽  
Virtual Work ◽  
Mathematical Expression ◽  
Velocity Control ◽  
Trajectory Estimation ◽  
Control Rules ◽  
Ground Conditions ◽  
The Coefficient Of Friction ◽  
Skid Steering ◽  
The Mathematical Model

SUMMARYThis paper analyses a mobile robot with independently rotating wheels travelling on uneven but smooth ground, including ascending or descending surfaces. We formulate a mathematical expression for the energy cost of the robot's movement. For our analysis, we utilise the principle of virtual work and assume that the robot moves with a fixed arrangement of wheel axes and without using a steering handle. The mathematical model reveals that the coefficient of friction and the payload distribution dominate the wheel behaviour, including slipping and skidding. We minimise the virtual work expression to determine the robot's motion complying with driven wheels. The model also enables us to estimate trajectories for different ground conditions. A hybrid robot, PEOPLER-II, is used to demonstrate the predicted motions, including turns and spins, by following angular velocity control rules. Experimental data verifies that the proposed formulation and minimisation of virtual work are valid techniques for predicting a robot's trajectory. The method described is widely applicable to wheeled robots having independently driven wheels.

scholarly journals Analysis of control and correction options of mobile robot trajectory by an inertial navigation system

2018 ◽  
Vol 15 (1) ◽  
pp. 172988141875516 ◽  
Author(s):  
Elena Pivarčiová ◽  
Pavol Božek ◽  
Yuri Turygin ◽  
Ivan Zajačko ◽  
Aleksey Shchenyatsky ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Control Systems ◽  
Navigation System ◽  
Reference System ◽  
Inertial Navigation System ◽  
Industrial Robot ◽  
Inertial Navigation ◽  
Control Device ◽  
Robot Trajectory ◽  
Detailed Application

The article deals with the research of the supplementation of industrial robot effector trajectory’s control systems by an inertial navigation system. The method of reverse validation and location of an object in a navigated reference system does not require additional calibration. The goal of the research is to verify the assumption that it is possible to control and correct the programmed mobile robot trajectory by implementing an inertial navigation system even in a case when the inertial navigation system is used as the only trajectory control device. The data obtained are processed by the proposed and detailed application.

Comparative Study on Autonomous Robot Trajectory Determination in an Unknown Indoor Environment

2014 ◽  
Vol 555 ◽  
pp. 327-333
Author(s):  
Teodora Gîrbacia
Keyword(s):  
Kalman Filter ◽  
Comparative Study ◽  
Mobile Robot ◽  
Particle Filter ◽  
Measurement Errors ◽  
Indoor Environment ◽  
Autonomous Mobile Robot ◽  
Robot Trajectory ◽  
Slam Algorithm ◽  
Closed Environment

In this paper is presented a comparative study between using extended Kalman filter and particle filter applied on SLAM algorithm for an autonomous mobile robot. The robot navigates through an unknown indoor environment in which are placed 80 landmarks and it creates the map of the environment. Because the sensors placed on the robots produce measurement errors it is necessary to use Bayesian filters as the Kalman filter or the particle filter. An application was implemented that shows the estimated measurement errors produced while using both filters in order to create the estimated map of the closed environment in which the autonomous mobile robot is navigating.

Mobile robot guidance using a short-lived heat trail

Robotica ◽  
1993 ◽  
Vol 11 (5) ◽  
pp. 427-431 ◽  
Author(s):  
R. Andrew Russell
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Area Coverage ◽  
Robot Trajectory

SUMMARYThis paper describes a novel form of navigation aid for mobile robots. It is suggested that a robot lay a heated trail to mark its path. This information about the robot trajectory can be used to assist a robot when it performs area coverage operations such as floor cleaning or allow a robot to follow the path previously taken by itself or another robot. Prototype devices for laying and tracking a heat trail are described and details of their performance are given. A mobile robot has been equipped to lay and track a heat trail.

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