Mejoras En La Localización Odometrica De Un Robot Diferencial Mediante La Corrección De Errores Sistemáticos


Authors

  • Danilo Navarro.
  • Gines Benet Gilabert.
  • Luis Hernando Rios.
  • Maximiliano Bueno L.

Abstract

A pesar de los inconvenientes de la localización odométrica, la misma es ampliamente usada en sistema de navegación de robots móviles. La exactitud de los parámetros del modelo cinemático mejora los resultados en la localización y contribuye a reducir los costos operacionales. Este artículo propone una metodología sencilla que no requiere de instrumentos especiales para calibrar los parámetros de la cinemática de un robot tipo diferencial. El sistema de localización así calibrado, mostró buena capacidad para estimar la posición real del móvil, con errores por debajo del 10 % en tramos hasta de 40 metros incluyendo giros de 90 grados.

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Published

2007-12-31

How to Cite

Navarro., D., Benet Gilabert., G., Rios., L. H., & Bueno L., M. (2007). Mejoras En La Localización Odometrica De Un Robot Diferencial Mediante La Corrección De Errores Sistemáticos. Scientia Et Technica, 1(37). Retrieved from https://ojs2.utp.edu.co/index.php/revistaciencia/article/view/4035

Issue

Vol. 1 No. 37 (2007)

Section

Eléctrica

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