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Dead reckoning position sensing for a mobile robot

Geoffrey J. Culley

Technical Report (1987)

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Abstract

Measurement techniques for dead reckoning position sensing -- Objectives and organization of this study -- Model development -- Geometrical interpretation -- Development of equations -- Solution of equations -- Completion of the free wheel model -- Preliminary analysis and discussion -- Factors affecting the accurancy of position sensing -- The spiral test -- Computer simulations -- The experimental spiral -- Calibration results -- Postprocessing results and analysis -- A simulation analysis on error reduction -- A project assessment according to objectives.

Uncontrolled Keywords

Dead reckoning (Navigation); Automated guided vehicle systems; Robots, Industrial; Estime (Navigation); Véhicules autoguidés; Robots industriels

Department: Department of Mechanical Engineering
PolyPublie URL: https://publications.polymtl.ca/9609/
Report number: EPM-RT-87-17
Date Deposited: 22 Nov 2021 16:36
Last Modified: 11 Nov 2022 14:22
Cite in APA 7: Culley, G. J. (1987). Dead reckoning position sensing for a mobile robot (Technical Report n° EPM-RT-87-17). https://publications.polymtl.ca/9609/

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