Kinematic correction of a differential drive mobile robot and a design for velocity trajectory with acceleration constraints on motor controllers

Presents a method for reducing odometry errors caused by kinematic imperfections in wheeled mobile robots. A new velocity trajectory is proposed that compensates for orientation error due to acceleration constraints on motor controllers. According to this velocity trajectory, the wheel velocity of one out of two driven wheels may be changed by the traveled distance of the mobile robot. It is shown that a wheeled mobile robot can't move along a straight line exactly, even if kinematic imperfections are corrected perfectly, and this phenomenon is attributable to acceleration constraints on motor controllers. We experiment on a wheeled mobile robot with 2 DOF and discuss the results.

[1]  Charles P. Neuman,et al.  Kinematic modeling of wheeled mobile robots , 1987, J. Field Robotics.

[2]  Liqiang Feng,et al.  Correction of systematic odometry errors in mobile robots , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[3]  Xiaoping Yun,et al.  Internal dynamics of a wheeled mobile robot , 1993, Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93).

[4]  James L. Crowley,et al.  Position estimation for a mobile robot using vision and odometry , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[5]  J. Latombe,et al.  On nonholonomic mobile robots and optimal maneuvering , 1989, Proceedings. IEEE International Symposium on Intelligent Control 1989.

[6]  Lindsay Kleeman,et al.  Optimal estimation of position and heading for mobile robots using ultrasonic beacons and dead-reckoning , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.