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