{"title":"具有四轮转向的汽车型机器人的自动里程计自校准","authors":"K. Bohlmann, Henrik Marks, A. Zell","doi":"10.1109/ROSE.2012.6402609","DOIUrl":null,"url":null,"abstract":"This paper addresses the task of calibrating the kinematic parameters and odometry of car-like robots with dual-axis steering. To achieve this goal only the robots builtin laser rangers and no external tracking systems are employed. We introduce a method to actively calibrate the steering angles of both front and rear steering angles with a multi-input multi-output (MIMO) controller. Using the determined function between steering servo input and steering angle the effective wheelbase and wheel diameters are estimated. We present an automated self-calibration procedure for car-like robots with dual-axis steering. The results are verified using our self-developed outdoor robot platform.","PeriodicalId":306272,"journal":{"name":"2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2012-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":"{\"title\":\"Automated odometry self-calibration for car-like robots with four-wheel-steering\",\"authors\":\"K. Bohlmann, Henrik Marks, A. Zell\",\"doi\":\"10.1109/ROSE.2012.6402609\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper addresses the task of calibrating the kinematic parameters and odometry of car-like robots with dual-axis steering. To achieve this goal only the robots builtin laser rangers and no external tracking systems are employed. We introduce a method to actively calibrate the steering angles of both front and rear steering angles with a multi-input multi-output (MIMO) controller. Using the determined function between steering servo input and steering angle the effective wheelbase and wheel diameters are estimated. We present an automated self-calibration procedure for car-like robots with dual-axis steering. The results are verified using our self-developed outdoor robot platform.\",\"PeriodicalId\":306272,\"journal\":{\"name\":\"2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2012-11-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"6\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROSE.2012.6402609\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROSE.2012.6402609","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Automated odometry self-calibration for car-like robots with four-wheel-steering
This paper addresses the task of calibrating the kinematic parameters and odometry of car-like robots with dual-axis steering. To achieve this goal only the robots builtin laser rangers and no external tracking systems are employed. We introduce a method to actively calibrate the steering angles of both front and rear steering angles with a multi-input multi-output (MIMO) controller. Using the determined function between steering servo input and steering angle the effective wheelbase and wheel diameters are estimated. We present an automated self-calibration procedure for car-like robots with dual-axis steering. The results are verified using our self-developed outdoor robot platform.