An Innovative Design to Improve Systematic Odometry Error in Nonholonomic Wheeled Mobile Robots
A major drawback with the popular differential drive wheeled mobile robot (WMR) when autonomously navigating on smooth indoor surfaces is its inability to continuously maintain straight-line trajectories. The inherent weakness of its kinematic design leads to this severe dead reckoning error that in...
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my.oum.7442012-08-27T23:59:42Z An Innovative Design to Improve Systematic Odometry Error in Nonholonomic Wheeled Mobile Robots Murelitharan, Muniandy Kanesan , Muthusamy TJ Mechanical engineering and machinery A major drawback with the popular differential drive wheeled mobile robot (WMR) when autonomously navigating on smooth indoor surfaces is its inability to continuously maintain straight-line trajectories. The inherent weakness of its kinematic design leads to this severe dead reckoning error that inevitably accumulates over the distance traveled. The mobile robot then depends on high resolution wheel encoders and rapid feedback control data processing capability that must continuously struggle to minimize this unproductive systematic odometry error. This paper proposes an innovative and robust drive train mechanical design called dual planetary drive (DPD) that will both drive a non-holonomic wheeled robot in straight lines effectively and more importantly, minimize systematic odometry error without the need for complex electronic feedback control systems. (Abstract by authors) Elsevier Article PeerReviewed Murelitharan, Muniandy and Kanesan , Muthusamy An Innovative Design to Improve Systematic Odometry Error in Nonholonomic Wheeled Mobile Robots. Procedia Engineering , 41 - International Symposium on Robotics and Intelligent Sensors 2012 (IRIS 2012). pp. 436-442. http://library.oum.edu.my/repository/744/ |
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TJ Mechanical engineering and machinery Murelitharan, Muniandy Kanesan , Muthusamy An Innovative Design to Improve Systematic Odometry Error in Nonholonomic Wheeled Mobile Robots |
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A major drawback with the popular differential drive wheeled mobile robot (WMR) when autonomously navigating on smooth indoor surfaces is its inability to continuously maintain straight-line trajectories. The inherent weakness of its kinematic design leads to this severe dead reckoning error that inevitably accumulates over the distance traveled. The mobile robot then depends on high resolution wheel encoders and rapid feedback control data processing capability that must continuously struggle to minimize this unproductive systematic odometry error. This paper proposes an innovative and robust drive train mechanical design called dual planetary drive (DPD) that will both drive a non-holonomic wheeled robot in straight lines effectively and more importantly, minimize systematic odometry error without the need for complex electronic feedback control systems. (Abstract by authors) |
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Article |
author |
Murelitharan, Muniandy Kanesan , Muthusamy |
author_facet |
Murelitharan, Muniandy Kanesan , Muthusamy |
author_sort |
Murelitharan, Muniandy |
title |
An Innovative Design to Improve Systematic Odometry Error in Nonholonomic Wheeled Mobile Robots |
title_short |
An Innovative Design to Improve Systematic Odometry Error in Nonholonomic Wheeled Mobile Robots |
title_full |
An Innovative Design to Improve Systematic Odometry Error in Nonholonomic Wheeled Mobile Robots |
title_fullStr |
An Innovative Design to Improve Systematic Odometry Error in Nonholonomic Wheeled Mobile Robots |
title_full_unstemmed |
An Innovative Design to Improve Systematic Odometry Error in Nonholonomic Wheeled Mobile Robots |
title_sort |
innovative design to improve systematic odometry error in nonholonomic wheeled mobile robots |
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Elsevier |
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http://library.oum.edu.my/repository/744/ |
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1644309060940464128 |
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13.160551 |