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1 Machine Dynamics Problems

1 2006

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Odometry Error Correction for a 4-Wheel Omnidirectional Mobile Platform

Blume H., Heimann B., Abelbeck F.

Machine Dynamics Problems

2006

Vol. 30, No. 1

5-20

This paper deals with a dead reckoning error correction algorithm for a 4-wheel omnidirectional mobile platform. The platform is powered by 4 identical driven and actively steered wheels, which sums up to 8 actuation DOFs. The platform itself is described as unicycle kinematic by 3 DOFs in the horizontal plane containing speed in x- and y direction, and angular velocity around the vertical axis. For estimating the robot's speed the redundancy is solved by an extended Kalman filter, based on a kinematic model of the robot. Dead reckoning based on the estimated robot speed is subject to different systematic and random errors. Over time small errors sum up to large discrepancies between estimated and real robot position, which - especially in office environments with narrow passages in halls and doors - is a big limitation for position estimation based on dead reckoning. Still, dead reckoning offers high resolution position estimation in the close-up range and by data fusion with a landmark-based low resolution position estimation system qualifies for high accuracy path control. In this paper a dead reckoning error correction algorithm is presented, which splits the speed error into one part originating from straight line movement and a second part originating from rotation around the vertical axis. The parameters of the error correction algorithm are estimated by a recursive least squares algorithm. During operation the robot continuously verifies the set of parameters, to account for a drift of parameters due to wear and varying payload of the robot. A significant improvement against simple dead reckoning can be shown.