{"title":"使用ummark对iRobot进行校准","authors":"Yu Dang, Hong Wang, Weiliang Xu","doi":"10.1109/AMC.2016.7496334","DOIUrl":null,"url":null,"abstract":"The article deals with the calibration and simulation of the odometry based on iRobot Create. The mathematical model of robot was built and analysed. In order to calibrate the odometry and modify the parameter in the programme, we carried out UMBmark test. The accumulation of errors was simulated through Kalman filter theory.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"726 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Calibration of iRobot create using UMBmark\",\"authors\":\"Yu Dang, Hong Wang, Weiliang Xu\",\"doi\":\"10.1109/AMC.2016.7496334\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The article deals with the calibration and simulation of the odometry based on iRobot Create. The mathematical model of robot was built and analysed. In order to calibrate the odometry and modify the parameter in the programme, we carried out UMBmark test. The accumulation of errors was simulated through Kalman filter theory.\",\"PeriodicalId\":273847,\"journal\":{\"name\":\"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)\",\"volume\":\"726 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2016-04-22\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/AMC.2016.7496334\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/AMC.2016.7496334","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
The article deals with the calibration and simulation of the odometry based on iRobot Create. The mathematical model of robot was built and analysed. In order to calibrate the odometry and modify the parameter in the programme, we carried out UMBmark test. The accumulation of errors was simulated through Kalman filter theory.
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