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- W3161265023 abstract "Autonomous navigation is one of the key development directions of mobile robots. The localization in robotic motion is a fundamental problem. The Mecanum wheeled robot which has strong load capacity, high flexibility and efficiency, is suitable for logistic environments with narrow channels and dense goods such as warehouses and production lines. The wheeled odometry model of the Mecanum wheeled mobile platform and the error source of the odometry are described. Then an industrial-grade Mecanum wheeled mobile platform is built, and a series of longitudinal and lateral linear motion and yaw rotation experiments are performed based on ROS and the odometry values are analyzed. It is found that the main direction component of odometry data is always larger than the actual movement distance of the platform whether it moves longitudinally or laterally, and the error in lateral motion is much larger than in longitudinal motion; in the yaw rotation, the odometry angle displacement is smaller than the actual value; the odometry error accumulates along with the motion distance increment. Taking the AGV trajectory detected by LiDAR as a reference, the odometry correction coefficients in the longitudinal, lateral and yaw rotation of the platform are obtained by the iterative approximation of experimental data, and the effectiveness are verified by experiments." @default.
- W3161265023 created "2021-05-24" @default.
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- W3161265023 date "2021-01-01" @default.
- W3161265023 modified "2023-09-23" @default.
- W3161265023 title "Mecanum Wheeled Mobile Platform Odometry Error Analysis and Correction" @default.
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- W3161265023 doi "https://doi.org/10.1007/978-3-030-75793-9_70" @default.
- W3161265023 hasPublicationYear "2021" @default.
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