A novel odometry model for wheeled mobile robots incorporating linear acceleration

Yanming Pei, Lindsay Kleeman

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

3 Citations (Scopus)

Abstract

One of the fundamental problems in mobile robotics is simultaneous localisation and mapping (SLAM), where one or more robots build a map and localise within the map at the same time. Many mobile robots have differential drive wheels with pneumatic tyres. These robots are dependent on odometry pose estimation when performing map building or localisation tasks. Currently a three parameter odometry estimation model is widely used [1-2] consisting of the left and right wheel radii and wheel separation distance. This paper introduces a new fourth parameter that accounts for wheel slip proportional to linear acceleration of the robot. To the authors' knowledge, this is the first robot odometry model that accounts for linear acceleration in a differential wheeled robot. The model requires little extra computation and accelerations can be obtained from existing robot motion commands. We experimentally validate our new odometry model on a hard lino floor. Experimental results show an error range of 9% in the estimation of the wheel radii when a Pioneer2 DX H-8 indoor mobile robot accelerates and decelerates on straight paths at an acceleration value of ±0.45 2 m / s2. We use another independent experiment to show a 0.3% improvement of the quality of the occupancy grid (OG) map [3] built using the three parameters model. The maps were generated by attaching laser scans to robot poses based only on odometry estimation. For fairness in the number of parameters, we also compare our model with another four parameter model. The experimental results also demonstrate two methods for calibration of the new model.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Mechatronics and Automation (ICMA)
EditorsKoichi Hashimoto
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages1396-1403
Number of pages8
ISBN (Electronic)9781509067572, 9781509067596
ISBN (Print)9781509067589
DOIs
Publication statusPublished - 23 Aug 2017
EventIEEE International Conference on Mechatronics and Automation 2017 - Takamatsu, Japan
Duration: 6 Aug 20179 Aug 2017
Conference number: 14th
http://2017.ieee-icma.org/

Conference

ConferenceIEEE International Conference on Mechatronics and Automation 2017
Abbreviated titleICMA 2017
CountryJapan
CityTakamatsu
Period6/08/179/08/17
Internet address

Keywords

  • Dead Reckoning
  • Mobile Robot Localisation
  • Odometry Calibration
  • Wheel Slip

Cite this

Pei, Y., & Kleeman, L. (2017). A novel odometry model for wheeled mobile robots incorporating linear acceleration. In K. Hashimoto (Ed.), 2017 IEEE International Conference on Mechatronics and Automation (ICMA) (pp. 1396-1403). [8016021] IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICMA.2017.8016021