Analysis of sensor characteristics and error eliminations of a wheeled mobile robot with range sensors

Author

Tseng, Kuan-Chieh ; Huang, Chen-Chia ; Lian, Feng-Li

Author_Institution

Electr. Eng. Dept., Nat. Taiwan Univ., Taipei

fYear

2009

fDate

22-25 Feb. 2009

Firstpage

228

Lastpage

233

Abstract

This paper introduces some preprocedures that eliminate nonzero mean errors of odometry result and range sensor data of a wheeled mobile robot. After that, the sensing results from odometry and range sensor are more reliable. In the beginning of this paper, some analyses of sensor characteristics are discussed and three kinds of error are classified. Because of these errors, results of sensing data are unreliable and make inappropriate control decisions. To solve this problem, some ldquoerror elimination architecturesrdquo are designed to lower the effects of errors or remove errors.

Keywords

distance measurement; error analysis; mobile robots; navigation; nonelectric sensing devices; path planning; error elimination; odometry; range sensors; wheeled mobile robot; Automatic control; Biomimetics; Biosensors; Error correction; Mobile robots; Navigation; Robot sensing systems; Robotics and automation; Sensor phenomena and characterization; Wheels; Wheeled mobile robot; effective radius ratio; error elimination; odometry; range sensor;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on

Conference_Location

Bangkok

Print_ISBN

978-1-4244-2678-2

Electronic_ISBN

978-1-4244-2679-9

Type

conf

DOI

10.1109/ROBIO.2009.4913008

Filename

4913008