Investigation on optimized relative localization of a mobile robot using regression analysis

The localization of a differential drive wheel robot is a basic control issue in versatile mechanical autonomy. Odometry is a natural technique for deciding the relative localization of mobile robots. It includes the identification of an arrangement of kinematic parameters that allow remaking relative localization of mobile robots and introduction beginning from the encoder wheel data evaluation. Therefore an effective path following technique is desired to develop an autonomous mobile robot with less odometry error. This paper describes a method to identify the optimal value of wheel velocities for relative localization of differential drive wheel robot on a circular and straight path. The proposed technique describes the dependency of odometry error on wheel velocities. Experiments have been performed by employing a two wheel differential drive mobile robot. Linear regression analysis is done to find the relationship between wheel velocity and the odometry of the mobile robot. Confirmation test is also done with the implementation of ANOVA techniques, by using statistical tools available in scientific analyses software MINITAB. A simulation software V-Rep 3.2.1 was used for the validation of the proposed method.

[1]  Mohammad Eghtesad,et al.  Study of the internal dynamics of an autonomous mobile robot , 2006, Robotics Auton. Syst..

[2]  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.

[3]  Alberto Valero-Gomez,et al.  Motion control of differential wheeled robots with joint limit constraints , 2011, 2011 IEEE International Conference on Robotics and Biomimetics.

[4]  Gaurav S. Sukhatme,et al.  Robust localization using relative and absolute position estimates , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).

[5]  J. Norton,et al.  Bounding Approaches to System Identification , 1996 .

[6]  Johann Borenstein,et al.  UMBmark : a method for measuring, comparing, and correcting dead-reckoning errors in mobile robots , 1994 .

[7]  Sazali Yaacob,et al.  Designing Omni-Directional Mobile Robot with Mecanum Wheel , 2006 .

[8]  Chaoli Wang,et al.  Dynamic feedback robust stabilization of nonholonomic mobile robots based on visual servoing , 2010 .

[9]  Liqiang Feng,et al.  Measurement and correction of systematic odometry errors in mobile robots , 1996, IEEE Trans. Robotics Autom..

[10]  赵英凯,et al.  Niche pseudo-parallel genetic algorithms for path optimization of autonomous mobile robot , 2006 .

[11]  Jean-Paul Laumond,et al.  Position referencing and consistent world modeling for mobile robots , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[12]  M. H. Korayem,et al.  Design, modelling and errors measurement of wheeled mobile robots , 2006 .

[13]  Kiyoshi Komoriya,et al.  Position estimation of a mobile robot using optical fiber gyroscope (OFG) , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[14]  Sauro Longhi,et al.  A Biased Extended Kalman Filter for Indoor Localization of a Mobile Agent Using Low-Cost IMU and UWB Wireless Sensor Network , 2012, SyRoCo.

[15]  Jack Hollingum.  CATERPILLAR MAKE THE EARTH MOVE: AUTOMATICALLY , 1991 .

[16]  Woojin Chung,et al.  Design of Test Tracks for Odometry Calibration of Wheeled Mobile Robots , 2011 .

[17]  Moharam Habibnejad Korayem,et al.  Investigation on the Effect of Different Parameters in Wheeled Mobile Robot Error (TECHNICAL NOTE) , 2007 .

[18]  Hobart R. Everett,et al.  Where am I?" sensors and methods for mobile robot positioning , 1996 .

[19]  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.

[20]  N. Dinesh Reddy,et al.  Incremental real-time multibody VSLAM with trajectory optimization using stereo camera , 2016, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[21]  Yoram Koren,et al.  A Mobile Platform for Nursing Robots , 1985, IEEE Transactions on Industrial Electronics.

[22]  Yoram Koren,et al.  MOTION CONTROL ANALYSIS OF A MOBILE ROBOT , 1987 .

[23]  Hugh F. Durrant-Whyte,et al.  Orientation estimate for mobile robots using gyroscopic information , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[24]  Xiaogang Ruan,et al.  Bionic autonomous learning control of a two-wheeled self-balancing flexible robot , 2011 .

[25]  Yunhui Liu,et al.  Dynamic Feedback Robust Regulation of nonholonomic mobile robots based on visual servoing , 2009, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference.

[26]  Maciej Trojnacki.  Analysis of influence of drive system configurations of a four wheelled robot on its mobility , 2012 .

[27]  B. Carlisle.  An omni-directional mobile robot , 1983 .

[28]  Jianqing Fan.  Design-adaptive Nonparametric Regression , 1992 .

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

[30]  Thia Kirubarajan,et al.  Estimation with Applications to Tracking and Navigation: Theory, Algorithms and Software , 2001 .

[31]  J. Concato,et al.  A simulation study of the number of events per variable in logistic regression analysis. , 1996, Journal of clinical epidemiology.

[32]  Gaurav S. Sukhatme,et al.  An Incremental Self-Deployment Algorithm for Mobile Sensor Networks , 2002, Auton. Robots.

[33]  Q. Zhan,et al.  Path tracking control of a spherical mobile robot , 2012 .

[34]  Johann Borenstein,et al.  Methods for the Reduction of Odometry Errors in Over-Constrained Mobile Robots , 2004, Auton. Robots.

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

[36]  Moharam Habibnejad Korayem,et al.  An Educational Autonomous Mobile Robot – Measurement of Accuracy , 2002 .

[37]  John M. Evans,et al.  HelpMate: an autonomous mobile robot courier for hospitals , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[38]  Akihiro Matsumoto,et al.  Development of an omni-directional mobile robot with 3 DOF decoupling drive mechanism , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.