Name
Abstract | ||
|---|---|---|
The estimation of robot's motion at the prediction step of any localization framework is commonly performed using a motion model in conjunction with inertial measurements. In the context of field robotics, articulated mobile robots have complex chassis. They might require a complete model in comparison with the traditionally used planar assumption. In this paper, we use a Jacobian motion model-based approach for real-time inertial-aided odometry. The work makes use of the transformation approach [1] to accurately model 6-DoF kinematics. The algorithm relates normal forces with the probability of a contact-point to slip. The result increases the accuracy by weighting the least-squares solution using static forces prediction. The method is applied to the Asguard v3 system, a simple but highly capable leg-wheel hybrid robot. The performance of the approach is demonstrated in extensive field testing within different unstructured environments. In-depth error analysis and comparison with planar odometry is discussed, resulting in a more accurate localization. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/IROS.2014.6942557 | Intelligent Robots and Systems |
Keywords | DocType | ISSN |
Jacobian matrices,mobile robots,motion control,real-time systems,Asguard v3 system,articulated mobile robots,field robotics,leg-wheel hybrid robot,localization framework,real-time inertial-aided odometry,robot motion,static forces weighted Jacobian motion models | Conference | 2153-0858 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Javier Hidalgo-Carrio | 1 | 4 | 2.07 |
| Ajish Babu | 2 | 0 | 0.34 |
| Frank Kirchner | 3 | 115 | 19.41 |