Improving odometry using a controlled point laser

Epton, Tom; Hoover, Adam

doi:10.1007/s10514-011-9272-x

Cited by 5 publications

(4 citation statements)

References 18 publications

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“…Depending on the pavement surface type, the share of systematic and non-systematic errors in the positioning accuracy error may vary. Additional calculation errors in navigation may also be produced by the equations of odometry (Epton and Hoover 2012). Such equations describe any trajectory as a series of shorter segments.…”

Section: Related Workmentioning

confidence: 99%

“…In the literature on online error correction, studies presenting laser range-finders and scanners are well represented. One example of using a laser range-finder is presented in the study (Epton and Hoover 2012). Measurement data enabled error correction calculations to be performed for the vehicle position originally determined by odometry.…”

Section: Related Workmentioning

confidence: 99%

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The impact of load on the wheel rolling radius and slip in a small mobile platform

2019

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Automated guided vehicles are used in a variety of applications. Their major purpose is to replace humans in onerous, monotonous and sometimes dangerous operations. Such vehicles are controlled and navigated by application-specific software. In the case of vehicles used in multiple environments and operating conditions, such as the vehicles which are the subject of this study, a reasonable approach is required when selecting the navigation system. The vehicle may travel around an enclosed hall and around an open yard. The pavement surface may be smooth or uneven. Vehicle wheels should be flexible and facilitate the isolation and absorption of vibrations in order to reduce the effect of surface unevenness to the load. Another important factor affecting the operating conditions are changes to vehicle load resulting from the distribution of the load and the weight carried. Considering all of the factors previously mentioned, the vehicle's navigation and control system is required to meet two opposing criteria. One of them is low price and simplicity, the other is ensuring the required accuracy when following the preset route. In the course of this study, a methodology was developed and tested which aims to obtain a satisfactory compromise between those two conflicting criteria. During the study a vehicle made in Technical University of Rzeszow was used. The results of the experimental research have been analysed. The results of the analysis provided a foundation for the development of a methodology leading to a reduction in navigation errors. Movement simulations for the proposed vehicle system demonstrated the potential for a significant reduction in the number of positioning errors.

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Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

The impact of load on the wheel rolling radius and slip in a small mobile platform

2019

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“…Measuring is followed by correction of the course of the vehicle. Adjustments can be implemented continually or cyclically, after a specified section or passing a specified marker -reference point [1], [4], [7], [13].…”

Section: Introductionmentioning

confidence: 99%

Selection of Filtration Methods in the Analysis of Motion of Automated Guided Vehicle

Dobrzańska

Dobrzański

Śmieszek

et al. 2016

Measurement Science Review

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In this article the issues related to mapping the route and error correction in automated guided vehicle (AGV) movement have been discussed. The nature and size of disruption have been determined using the registered runs in experimental studies. On the basis of the analysis a number of numerical runs have been generated, which mapped possible to obtain runs in a real movement of the vehicle. The obtained data set has been used for further research. The aim of this paper was to test the selected methods of digital filtering on the same data set and determine their effectiveness. The results of simulation studies have been presented in the article. The effectiveness of various methods has been determined and on this basis the conclusions have been drawn.

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“…In order to eliminate these errors in modern vehicles additional systems are used − to increase the accuracy in determining the vehicle position [12,21]. These systems include the optical, magnetic, laser and GPS satellite navigation [4,7,14,18,20,24]. At appropriate time intervals, or after passing by the vehicle characteristic signs [11,16,23] there is a precise position determination process and error correction from the navigation computing − odometry.…”

Section: Introductionmentioning

confidence: 99%

Application Of Kalman Filter In Navigation Process Of Automated Guided Vehicles

Śmieszek

Dobrzańska

2015

Metrology and Measurement Systems

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In the paper an example of application of the Kalman filtering in the navigation process of automatically guided vehicles was presented. The basis for determining the position of automatically guided vehicles is odometry -the navigation calculation. This method of determining the position of a vehicle is affected by many errors. In order to eliminate these errors, in modern vehicles additional systems to increase accuracy in determining the position of a vehicle are used. In the latest navigation systems during route and position adjustments the probabilistic methods are used. The most frequently applied are Kalman filters.

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Improving odometry using a controlled point laser

Cited by 5 publications

References 18 publications

The impact of load on the wheel rolling radius and slip in a small mobile platform

The impact of load on the wheel rolling radius and slip in a small mobile platform

Selection of Filtration Methods in the Analysis of Motion of Automated Guided Vehicle

Application Of Kalman Filter In Navigation Process Of Automated Guided Vehicles

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