Abstract
This paper describes an automatic calibration procedure adopted to improve the localization of an outdoor mobile robot. The proposed algorithm estimates, by using an extended Kalman filter, the main kinematic parameters of the vehicles, such as the wheel radii and the wheelbase as well as the magnetometer offset. Several trials have been performed to validate the proposed strategy on a tracked electrical mobile robot. The mobile robot is aimed to be adopted as a tool to help humanitarian demining operations.
Highlights
This paper presents a procedure and some experimental results concerning the auto-calibration of the kinematic parameters of a tracked vehicle, developed for humanitarian demining operations
Robots can represent a useful technology for humanitarian demining, allowing human workers to stay at a safe distance during the operations [3,4]
During experimental robot motions, it was possible to see a significant magnetic disturbance effect of building structures and robot structures on the magnetometer in the AHRS. This negative effect does not allow reaching very good results in terms of localization, because the acquired orientation data of the robot are affected by large errors
Summary
This paper presents a procedure and some experimental results concerning the auto-calibration of the kinematic parameters of a tracked vehicle, developed for humanitarian demining operations. For the a skid steering robot,should during a rotation the especially as regard offset, which for an solely electric fullcan of metal parts magnets, can assume estimation of theits orientation performed byvehicle odometry result in veryand significant errors. This case, the adoption of an inertial measurement unit together with a magnetometer can give the measurementisofessentially the absolutethe orientation theestimating robot. Kalman Filter is adopted to perform the calibration of the parameters of a six-wheel skid steering robot sensor measures.
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