Improvement of the Odometry Accuracy of a Crawler Vehicle with Consideration of Slippage
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Improvement of the Odometry Accuracy of a Crawler Vehicle with Consideration of Slippage •In our proposal, a crawler vehicle can estimate the slip ratios using information from encoders and a gyro-sensor. •The estimated slip ratios improve an accuracy of the odometry of crawler vehicle. •The validity of the proposed odometry system was evaluated by performing a basic experiment using an actual crawler vehicle. Keiji NAGATANI, Daisuke ENDO, and Kazuya YOSHIDA Graduate School of Engineering, Tohoku University, JAPAN
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Improvement of the Odometry Accuracy of a Crawler Vehicle with Consideration of Slippage. Keiji NAGATANI, Daisuke ENDO, and Kazuya YOSHIDA Graduate School of Engineering, Tohoku University, JAPAN. - PowerPoint PPT Presentation
Transcript of Improvement of the Odometry Accuracy of a Crawler Vehicle with Consideration of Slippage
Improvement of the Odometry Accuracy ofa Crawler Vehicle with Consideration of Slippage
• In our proposal, a crawler vehicle can estimate the slip ratios using information from encoders and a gyro-sensor.
• The estimated slip ratios improve an accuracy of the odometry of crawler vehicle.
• The validity of the proposed odometry system was evaluated by performing a basic experiment using an actual crawler vehicle.
• The left figure shows an accuracy of our odometry system in curve-trajectory in comparison with other methods.
Keiji NAGATANI, Daisuke ENDO, and Kazuya YOSHIDAGraduate School of Engineering, Tohoku University, JAPAN
