Online Odometry Calibration for Differential Drive Mobile Robots in Low Traction Conditions with Slippage
This paper addresses a systematic method for odometry calibration of a differential-drive mobile robot moving on arbitrary paths in the presence of slippage and an algorithm encoding it which is well fit for online applications. It exploits the redundancy of sensors commonly available on ground mobi...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-12-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/13/1/7 |
| _version_ | 1797342569628172288 |
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| author | Carlo De Giorgi Daniela De Palma Gianfranco Parlangeli |
| author_facet | Carlo De Giorgi Daniela De Palma Gianfranco Parlangeli |
| author_sort | Carlo De Giorgi |
| collection | DOAJ |
| description | This paper addresses a systematic method for odometry calibration of a differential-drive mobile robot moving on arbitrary paths in the presence of slippage and an algorithm encoding it which is well fit for online applications. It exploits the redundancy of sensors commonly available on ground mobile robots, such as encoders, gyroscopes, and IMU, to promptly detect slippage phenomena during the calibration process and effectively address their impact on odometry. The proposed technique has been validated through exhaustive numerical simulations and compared with other available odometry calibration methods. The simulation results confirm that the proposed methodology mitigates the impact of poor calibration, conducted without considering possible slipping phenomena, on reaching a target position, reducing the error by up to a maximum of 35 times. This restores the robot’s performance to a calibration condition close to that of a slip-free scenario, confirming the effectiveness of the approach and its robustness against slippage phenomena. |
| first_indexed | 2024-03-08T10:35:12Z |
| format | Article |
| id | doaj.art-2de564a5355045d2baf5edf4634a2344 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-08T10:35:12Z |
| publishDate | 2023-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-2de564a5355045d2baf5edf4634a23442024-01-26T18:21:31ZengMDPI AGRobotics2218-65812023-12-01131710.3390/robotics13010007Online Odometry Calibration for Differential Drive Mobile Robots in Low Traction Conditions with SlippageCarlo De Giorgi0Daniela De Palma1Gianfranco Parlangeli2Department of Engineering for Innovation, University of Salento, Via per Monteroni, 73100 Lecce, ItalyDepartment of Engineering for Innovation, University of Salento, Via per Monteroni, 73100 Lecce, ItalyDepartment of Engineering for Innovation, University of Salento, Via per Monteroni, 73100 Lecce, ItalyThis paper addresses a systematic method for odometry calibration of a differential-drive mobile robot moving on arbitrary paths in the presence of slippage and an algorithm encoding it which is well fit for online applications. It exploits the redundancy of sensors commonly available on ground mobile robots, such as encoders, gyroscopes, and IMU, to promptly detect slippage phenomena during the calibration process and effectively address their impact on odometry. The proposed technique has been validated through exhaustive numerical simulations and compared with other available odometry calibration methods. The simulation results confirm that the proposed methodology mitigates the impact of poor calibration, conducted without considering possible slipping phenomena, on reaching a target position, reducing the error by up to a maximum of 35 times. This restores the robot’s performance to a calibration condition close to that of a slip-free scenario, confirming the effectiveness of the approach and its robustness against slippage phenomena.https://www.mdpi.com/2218-6581/13/1/7calibration and identificationkinematicswheeled robots |
| spellingShingle | Carlo De Giorgi Daniela De Palma Gianfranco Parlangeli Online Odometry Calibration for Differential Drive Mobile Robots in Low Traction Conditions with Slippage Robotics calibration and identification kinematics wheeled robots |
| title | Online Odometry Calibration for Differential Drive Mobile Robots in Low Traction Conditions with Slippage |
| title_full | Online Odometry Calibration for Differential Drive Mobile Robots in Low Traction Conditions with Slippage |
| title_fullStr | Online Odometry Calibration for Differential Drive Mobile Robots in Low Traction Conditions with Slippage |
| title_full_unstemmed | Online Odometry Calibration for Differential Drive Mobile Robots in Low Traction Conditions with Slippage |
| title_short | Online Odometry Calibration for Differential Drive Mobile Robots in Low Traction Conditions with Slippage |
| title_sort | online odometry calibration for differential drive mobile robots in low traction conditions with slippage |
| topic | calibration and identification kinematics wheeled robots |
| url | https://www.mdpi.com/2218-6581/13/1/7 |
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