Modeling and Calibrating a 4-wheel Skid-Steer Research Robot

Abstract

This report describes the calibration of a commercial Roboteq motor controller which was installed in an iRobot ATRV Jr research robot as part of a system upgrade. The objective of the calibration was to determine the transfer function between a command issued to the robot control system and the path followed by the robot and all relevant parameters. Implicit in the calibration is validation of the model on which the transfer function is based, which is a kinematic model of a 4-wheel skid-steer vehicle.

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 2009
Accession Number
ADA629344

Entities

People

  • Gary Haas

Organizations

  • United States Army Research Laboratory

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Accuracy
  • Calibration
  • Coordinate Systems
  • Department Of Defense
  • Diameters
  • Displacement
  • Grids
  • Ground Speed
  • Information Operations
  • Laboratory Procedures
  • Measurement
  • Military Research
  • Rotation
  • Simultaneous Localization And Mapping
  • Trajectories
  • Translations
  • Two Dimensional

Readers

  • Aerospace Test and Evaluation
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy