Title :
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
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;
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
DOI :
10.1109/ROBIO.2009.4913008
