OptiOdom: Circular Calibration Path for Differential/Tricycle Robots скачать в хорошем качестве

OptiOdom: Circular Calibration Path for Differential/Tricycle Robots

Circular Calibration Path for Differential/Tricycle Robots This video presents the circular calibration path used in OptiOdom's experiments for the differential and tricycle robots. The circular calibration path is parameterized as follows: Initial radius - R0 (m): initial curvature radius that defines the first 180º curve Radius decreasing ratio - r% (%): ratio that is used to update the current curvature radius Rk after each 180º curve (Rk = r% * Rk-1; equivalent to the robot's velocity module |v|k = r% * |v|k-1, at the k 180º curve) Number of 180º curves - #180º Number of total runs - N One interesting advantage of this calibration path is the possibility to increase #180º (to increase the total distance made by the robot) while having the path's required area restricted by the initial radius (if r% is lower than 1). Similar to the square calibration path, half of the runs should be performed in the clockwise direction and the other half in the opposite direction, as illustrated in the video. This procedure is required because only evaluating the odometric data in one direction can lead to odometric errors that cancel each other on a unidirectional path. In the literature, this circular path illustrated in the video and used in OptiOdom's experiments was firstly proposed by Kallasi et al. for tricycle robots and later used by Galasso et al. on the Ackerman steering geometry. Bibliographic references: Kallasi et al., "A novel calibration method for industrial AGVs", doi: 10.1016/j.robot.2017.04.019 Galasso et al., "Efficient calibration of four wheel industrial AGVs", doi: 10.1016/j.rcim.2018.11.005 ---------------------------------------- OptiOdom: A Generic Approach for Odometry Calibration of Wheeled Mobile Robots Authors: Ricardo B. Sousa [orcid: 0000-0003-4537-5095] Marcelo R. Petry [orcid: 0000-0002-7023-8562] Paulo G. Costa [orcid: 0000-0002-4846-271X] António Paulo Moreira [orcid: 0000-0001-8573-3147] Acknowledgments: CRIIS - Centre for Robotics in Industry and Intelligent Systems from INESC TEC - Institute for Systems and Computer Engineering, Technology and Science Faculty of Engineering, University of Porto (FEUP)