Calibration and planning techniques for mobile robots in industrial environments

Papadopoulos, E; Misailidis, M

dc.contributor.author	Papadopoulos, E	en
dc.contributor.author	Misailidis, M	en
dc.date.accessioned	2014-03-01T01:28:01Z
dc.date.available	2014-03-01T01:28:01Z
dc.date.issued	2008	en
dc.identifier.issn	0143991X	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/18670
dc.subject	Calibration	en
dc.subject	Motion	en
dc.subject	Robotics	en
dc.subject.other	Calibration	en
dc.subject.other	Errors	en
dc.subject.other	Robotics	en
dc.subject.other	Systematic errors	en
dc.subject.other	Alternative methods	en
dc.subject.other	Calibration methods	en
dc.subject.other	Design/methodology/approach	en
dc.subject.other	Industrial environments	en
dc.subject.other	Motion	en
dc.subject.other	Odometry	en
dc.subject.other	Odometry calibrations	en
dc.subject.other	Odometry errors	en
dc.subject.other	Omni wheels	en
dc.subject.other	Path planning	en
dc.subject.other	Planning techniques	en
dc.subject.other	Practical implications	en
dc.subject.other	Robot manufacturers	en
dc.subject.other	Robots	en
dc.title	Calibration and planning techniques for mobile robots in industrial environments	en
heal.type	journalArticle	en
heal.identifier.primary	10.1108/01439910810909574	en
heal.identifier.secondary	http://dx.doi.org/10.1108/01439910810909574	en
heal.publicationDate	2008	en
heal.abstract	Purpose - This paper aims to provide a simple and cheap calibration method to improve the odometry accuracy and to present an alternative method for the control of the path produced by an already existed path planning method. Design/methodology/approach - Through the integration of systematic odometry errors the robot's odometry parameters are estimated and through the replacement of a caster with an omniwheel the unmodeled sources of odometry errors are removed. The control of the paths shape is achieved through the definition of intermediate points and robots velocity at these points. Findings - The paper finds that the odometry calibration method improves significantly odometry accuracy. Caster and omniwheel performance depends on the paths characteristics and on their quality. The use of intermediate points offers a very good control on the paths' shape. Research limitations/implications - The paper encourages the manufacturers of casters and omniwheels to improve their quality. The described path planning method inevitably halts the robot at certain points. Further research must be done to avoid this drawback. Practical implications - Odometry calibration has become a simple procedure and can be easily implemented by robot manufacturers or researchers to improve odometry accuracy. Originality/value - The odometry calibration method significantly reduces systematic odometry errors and makes odometry reliable apart from cheap. The influence of caster and omniwheel to odometry is examined along with the influence of better controlled path shape. © Emerald Group Publishing Limited.	en
heal.journalName	Industrial Robot	en
dc.identifier.doi	10.1108/01439910810909574	en
dc.identifier.volume	35	en
dc.identifier.issue	6	en
dc.identifier.spage	564	en
dc.identifier.epage	572	en