Positioning Method of Four-Wheel-Steering Mobile Robots Based on Improved UMBmark of Michigan Benchmark Algorithm-Reference-Cited by-同舟云学术

Positioning Method of Four-Wheel-Steering Mobile Robots Based on Improved UMBmark of Michigan Benchmark Algorithm

Published:2023-03-20 Issue:2 Volume:27 Page:135-142
ISSN:1883-8014
Container-title:Journal of Advanced Computational Intelligence and Intelligent Informatics
language:en
Short-container-title:JACIII

Author:

Wang Dianjun¹^ORCID,Xu Meng¹,Chen Ya¹^ORCID,Zhong Haoxiang¹,Zhu Yadong¹,Wang Zilong¹^ORCID,Gao Linlin¹

Affiliation:

1. Beijing Institute of Petrochemical Technology, No.19 Qingyuan North Street, Huangcun Town, Daxing District, Beijing 102617, China

Abstract

To reduce the error of the odometer positioning system and improve the positioning accuracy of four-wheel-steering mobile robots, three types of coupling errors are considered, based on the University of Michigan Benchmark (UMBmark) method: unequal track width, unequal wheel diameter, and speed difference of ipsilateral wheels. A “dual direction square path experiment” is designed to decouple the error, a new system error model is defined, and an improved UMBmark method for a four-wheel mobile robot is proposed. In the mobile robot positioning system, a laser tracker is used to measure the absolute positions of the starting and ending points of the robot. The positioning test results of the robot using the improved UMBmark method show that the odometer system error is 69.103 mm, which is 2.6 times less than that in the traditional UMBmark method. Hence, the improved UMBmark can better compensate for the system error of four-wheel-steering mobile robots.

Funder

Beijing Municipal Commission of Education

Publisher

Fuji Technology Press Ltd.

Subject

Artificial Intelligence,Computer Vision and Pattern Recognition,Human-Computer Interaction

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