1732-3916 The Precise Odometry Navigation for the Group of Robots Buratowski Tomasz author Dąbrowski Borys author Uhl Tadeusz author Kwosek Jacek author AGH Akademia Górniczo-Hutnicza im. Stanisława Staszica w Krakowie Centrum Badań Kosmicznych Polskiej Akademii Nauk, Warszawa Uniwersytet Śląski w Katowicach, Bankowa 12, 40-007 Katowice Correspondence to: Tomasz Buratowski Correspondence to: Borys Dąbrowski Correspondence to: Tadeusz Uhl Correspondence to: Jacek Kwosek 23 03 2011 Volume 19 2010 99 111 Copyright © 2011 2011 <p style="text-align: left;">The idea of the project is to trace the robot position and orientation and precise it by the implementation of the advanced algorithms based on triangulation and trilateration methods. Precise navigation is a difficult task since the odometry sensors used in this context are subject to systematic and random errors. The former ones result from inaccuracies in the mechanical construction of the vehicles, e.g. the wheel diameters can be unequal or the nominal direction of the wheels is different from real.</p> 1 Borenstein J., Feng L.; Measurement and correction of systematic odometry errors in mobile robots, IEEE Transactions on Robotics and Automation 12, 1996, pp. 869–880. 2 Borenstein J., Feng L.; UMBmark – A method for measuring, comparing and correcting dead-reckoning errors in mobile robots, Technical Report UMMEAM 94– 22, University of Michigan. 3 Larsen T.D.; Optimal Fusion of Sensors, PhD thesis, Department of Automation, Technical University of Denmark, September 1998. 4 Larsen T.D., Bak M., Andersen N.A., Ravn O.; Location Estimation for Autonomously Guided Vehicle using an Augmented Kalman filter to Autocalibrate the Odometry, FUSION98 Spie Conference Las Vegas, USA, July 1998. 5 Martinelli A.; The odometry error of a mobile robot with a synchronous drive system, IEEE Transactions on Robotics and Automation 18(3), 2002, pp. 399–405. 6 Martinelli A.; Evaluating the Odometry Error of a Mobile Robot, International Conference on Intelligent Robot and Systems (IROS02) Lausanne, Switzerland, September 30 – October 4, 2002,Lausanne, Switzerland, pp. 853–858. 7 Martinelli A., Siegwart R.; Estimating the Odometry Error of a Mobile Robot during Navigation, European Conference on Mobile Robots (ECMR 2003), Warsaw, Poland, September 4–6, 2003. 8 Borenstein J.; The CLAPPER: A dual-drive Mobile Robot with Internal Correction of Dead-reckoning Errors, International Conference on Robotics and Automation 3, 1995, pp. 3085–3090. 9 Borenstein J.; Internal Correction of Dead-reckoning Errors with the Smart Encoder Trailer, International Conference on Intelligent Robots and Systems, Vol. 1, 1994, pp. 127–134. 10 Sugiyama H.; A method for an autonomous mobile robot to recognize its position in the global coordinate system when building a map, Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 3, Yokohama, Japan, 1993, pp. 2186–2191. 11 Navarro-Serment L., Paredis C.J.J., Khosla P.K.; A beacon system for the localization of distributed robotic teams, Proceedings of the International Conference on Field and Service Robotics, Pittsburgh, PA, August 1999. 12 Rekleitis I.M., Dudek G., Milios E.E.; Multi-robot cooperative localization: a study of trade-offs between efficiency and accuracy, Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 3, Lausanne, Switzerland, October 2002, pp. 2690–2695. 13 Hyams J., Powell M.W., Murphy R.; Cooperative navigation of micro-rovers using color segmentation, Proceedings of the IEEE International Symposium on Computational Intelligence in Robotics and Automation, 1999, pp. 195–201. 14 Howard A., Kitchen L.; Cooperative localisation and mapping, Proceedings of the 1999 International Conference on Field and Service Robotics, 1999. 15 Kurazume R., Hirose S.; Study on cooperative positioning system: optimum moving strategies for cps-iii, Proceedings of the IEEE International Conference onm Robotics and Automation, Vol. 4, May 1998, pp. 2896–2903. 16 Madhavan R., Fregene K., Parker L.E.; Distributed heterogeneous outdoor multirobot localization, Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 1, 2002, pp. 374–381. 17 Martinelli A., Pont F., Siegwart R.; Multi-robot Localization Using Relative Observations, Proceedings of the IEEE International Conference on Robotics and Automation, 2005, pp. 2808–2813. 18 Roumeliotis S.I., Bekey G.A.; Distributed Multirobot Localization, IEEE Transaction On Robotics And Automation 18(5), October 2002. 19 Buratowski T., Uhl T., Chmaj G.; The Project of an autonomous robot capable to cooperate in a group, in: Robot Motion and Control 2007, K. Kozłowski (ed.), Springer-Verlag, London 2007. 20 Buratowski T., Uhl T., Chmaj G.; The Project of autonomous group of 2-wheeled mobile robots, Proceedings of the Twelfth World Congress in Mechanism and Machine Science, Besançon, France 2007. 21 Buratowski T., Uhl T.; The Project of autonomous group of robots, Proceedings of the 23rd ISPE International Conference on CAD/CAM Robotics and Factories of the Future, Bogota, Colombia 2007. 22 Buratowski T., Uhl T., Chmaj G.; The mechatronic integration of autonomous mobile robot units in order to operate in multiagent group, Proceedings of the Seventeenth Symposium on Robot Design, Dynamics and Control, Tokyo, Japan 2008. 23 Buratowski T., Burghardt A.; Proposal for a rapid prototyping environment for algorithms intended for autonomous mobile robot control, Proceedings of the Sixth Portuguese Conference on Automatics Control, Vila Real, Portugal 2008.