auto-calibration methods of kinematic parameters and magnetometer offset for the localization of a tracked mobile robot

Clicks: 213
ID: 211044
2016
This paper describes an automatic calibration procedure adopted to improve the localization of an outdoor mobile robot. The proposed algorithm estimates, by using an extended Kalman filter, the main kinematic parameters of the vehicles, such as the wheel radii and the wheelbase as well as the magnetometer offset. Several trials have been performed to validate the proposed strategy on a tracked electrical mobile robot. The mobile robot is aimed to be adopted as a tool to help humanitarian demining operations.
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Authors ;Luciano Cantelli;Samuel Ligama;Giovanni Muscato;Davide Spina
Journal Biolinguistics
Year 2016
DOI 10.3390/robotics5040023
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