Sensors for mobile robots: theory and application
Sensors for mobile robots: theory and application
Experiences with an interactive museum tour-guide robot
Artificial Intelligence - Special issue on applications of artificial intelligence
An Experimental Study of a Cooperative Positioning System
Autonomous Robots
Improving odometry using a controlled point laser
Autonomous Robots
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A trigonometric method is proposed to calculate the pose (position and orientation) of a mobile robot, possessing a locomotion platform with a unique combination of two steerable and driven wheels and two caster wheels. The model of the locomotion platform is derived to deliver timely and accurate odometer information from measurements of drive wheel revolutions and steering angles. Non-systematic errors, mainly caused by wheel slippage, are detected by a new computation method based on the ratios between the two drive wheels' incremental distances. Real-world experiments validate the proposed model and the algorithm's ability to detect non-systematic errors.