Encoderless position estimation and error correction techniques for miniature mobile robots

Farshad ARVIN; Masoud BEKRAVI

Makale detayları

Encoderless position estimation and error correction techniques for miniature mobile robots

Yazarlar:

Farshad ARVIN | Masoud BEKRAVI

Yayıncı:

TUBITAK

Dergi:

Turkish Journal of Electrical Engineering and Computer Science 2013 Vol.21 Issue 6, pp.1631-1645

Belge Tipi:

Makale

Yayın Tarihi:

5/2013

Belge Dili:

Türkçe

Document ID (Org No.):

2000743167

Sıklık:

İki Aylık

eISSN:

1303-6203

pISSN:

1300-0632

Özet:

 

This paper presents an encoderless position estimation technique for  miniature-sized mobile robots. Odometry techniques, which are based on the  hardware components, are commonly used for calculating the geometric  location of mobile robots. Therefore, the robot must be equipped with an  appropriate sensor to measure the motion. However, due to the hardware  limitations of some robots, employing extra hardware is impossible. On the  other hand, in swarm robotic research, which uses a large number of mobile  robots, equipping the robots with motion sensors might be costly. In this  study, the trajectory of the robot is divided into several small  displacements over short spans of time. Therefore, the position of the robot  is calculated within a short period, using the speed equations of the  robot's wheel. In addition, an error correction function is proposed that  estimates the errors of the motion using a current monitoring technique. The  experiments illustrate the feasibility of the proposed position estimation  and error correction techniques to be used in miniature-sized mobile robots  without requiring an additional sensor.

 

This paper presents an encoderless position estimation technique for  miniature-sized mobile robots. Odometry techniques, which are based on the  hardware components, are commonly used for calculating the geometric  location of mobile robots. Therefore, the robot must be equipped with an  appropriate sensor to measure the motion. However, due to the hardware  limitations of some robots, employing extra hardware is impossible. On the  other hand, in swarm robotic research, which uses a large number of mobile  robots, equipping the robots with motion sensors might be costly. In this  study, the trajectory of the robot is divided into several small  displacements over short spans of time. Therefore, the position of the robot  is calculated within a short period, using the speed equations of the  robot's wheel. In addition, an error correction function is proposed that  estimates the errors of the motion using a current monitoring technique. The  experiments illustrate the feasibility of the proposed position estimation  and error correction techniques to be used in miniature-sized mobile robots  without requiring an additional sensor.

Makale detayları

Encoderless position estimation and error correction techniques for miniature mobile robots

Yazarlar: Farshad ARVIN | Masoud BEKRAVI

Yayıncı: TUBITAK

Dergi: Turkish Journal of Electrical Engineering and Computer Science 2013 Vol.21 Issue 6, pp.1631-1645

Belge Tipi: Makale

Yayın Tarihi: 5/2013

Belge Dili: Türkçe

Document ID (Org No.): 2000743167

Sıklık: İki Aylık

eISSN: 1303-6203

pISSN: 1300-0632

Sayı

Yazarlar:

Farshad ARVIN | Masoud BEKRAVI

Yayıncı:

TUBITAK

Dergi:

Turkish Journal of Electrical Engineering and Computer Science 2013 Vol.21 Issue 6, pp.1631-1645

Belge Tipi:

Makale

Yayın Tarihi:

5/2013

Belge Dili:

Türkçe

Document ID (Org No.):

2000743167

Sıklık:

İki Aylık

eISSN:

1303-6203

pISSN:

1300-0632