Odometry error estimation for a differential drive robot snowplow

This paper presents a velocity-augmented Extended Kalman Filter (EKF) which can estimate both systematic and non-systematic odometry errors for a differential drive mobile robot. The proposed EKF is validated both within simulation and using postprocessed robot snowplow data from the Institute of Navigation's 2013 Autonomous Snowplow Competition. Potential sensor configurations are explored using EKF Monte-Carlo simulations with Global Positioning System (GPS) sensors or multilateration ranging sensors.

[1]  Philippe Bonnifait,et al.  A multisensor localization algorithm for mobile robots and its real-time experimental validation , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[2]  Chih-Ming Wang.  Location Estimation and Uncertainty Analysis for Mobile Robots , 1990, Autonomous Robot Vehicles.

[3]  Edward J. Kreinar.  Filter-Based Slip Detection for a Complete-Coverage Robot , 2013 .

[4]  M. Arif,et al.  Measurement and Correction of Systematic Odometry Errors Caused by Kinematics Imperfections in Mobile Robots , 2006, 2006 SICE-ICASE International Joint Conference.

[5]  Giovanni Muscato,et al.  Localization and self-calibration of a robot for volcano exploration , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[6]  Bradley David Farnsworth,et al.  Precision RF Ranging as an Aid to Integrated Navigation Systems , 2010 .

[7]  Lindsay Kleeman,et al.  Accurate odometry and error modelling for a mobile robot , 1997, Proceedings of International Conference on Robotics and Automation.

[8]  Liqiang Feng,et al.  UMBmark: a benchmark test for measuring odometry errors in mobile robots , 1995, Other Conferences.

[9]  M. Buehler,et al.  Three-state Extended Kalman Filter for Mobile Robot Localization , 2002 .

[10]  Stergios I. Roumeliotis,et al.  Slip-compensated path following for planetary exploration rovers , 2006, Adv. Robotics.

[11]  Wolfram Burgard,et al.  Probabilistic Robotics (Intelligent Robotics and Autonomous Agents) , 2005 .

[12]  Arthur Gelb,et al.  Applied Optimal Estimation , 1974 .

[13]  Roland Siegwart,et al.  Simultaneous localization and odometry calibration for mobile robot , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[14]  Sebastian Thrun,et al.  Probabilistic robotics , 2002, CACM.

[15]  Roland Siegwart,et al.  Simultaneous localization and odometry self calibration for mobile robot , 2007, Auton. Robots.

[16]  Bradley David Farnsworth,et al.  High Precision Narrow-Band RF Ranging , 2010 .

[17]  Johann Borenstein,et al.  Internal correction of dead-reckoning errors with the smart encoder trailer , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).