Novel qualitative visual odometry for a ground: Vehicle based on funnel lane concept

Kassir, Mohamad Mahdi; Palhang, Maziar

doi:10.1109/iranianmvip.2017.8342345

Cited by 2 publications

(1 citation statement)

References 15 publications

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“…However, the margin of error increases as the wheels wear or slide, so periodic calibrations are required. This means that the relative orientation of the robot depends on the speed of the wheels, which when rotating at the same speed do not generate a variation in position and when increasing the speed in one of them also does it the tendency towards a direction, as shown in Figure 2 (b) [18]. More specifically, to determine the robot position, mathematical transformations based on the robot reference frames are used, where the path of wheel 1 and 2 are represented by (1), the form of the average path by (2) and the orientation by is constructed by subtracting two coordinates and taking into account the wheel spacing in (3) [19].…”

Section: Unicycle Robotmentioning

confidence: 99%

Design of a controller for wheeled mobile robots based on automatic movement sequencing

2020

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There are many kinds of robots and among them the wheeled mobile robots (WMR) stand out, because they are relatively cheap and easy to build. These features make WMRs the test prototypes for control strategies or motion generation. In general, the controllers developed are based on sensory schemes that give an WMR the ability to travel through flat or obstructed environments. However, these strategies are highly reactive, i.e. they are based on the controlaction scheme and are not adaptive; or, they are motion schemes built from simulations that assume the environmental conditions to determine the robot's path. In both cases, WMRs do not adapt perfectly to the change of environment, since the controller does not find appropriate movements for the robot to move from one point to another. Therefore, this article proposesa partial solution to this problem, with a controller that generates sets of adaptive movements for an WMR to travel around its environment from the sensory perception information.

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Section: Unicycle Robotmentioning

confidence: 99%