Naslov
Odometry calibration of mobile robots via semidefinite programming relaxations

Autori
Spudić, Vedrana ; Baotić, Mato ; Perić, Nedjeljko

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 17th International Electrotechnical and Computer Science Conference ERK’ 2008, Vol. B / Zajc, Baldomir ; Trost, Andrej - Ljubljana : SOMARU d.o.o., 2008, 187-190

Skup
The 17th International Electrotechnical and Computer Science Conference ERK’ 2008

Mjesto i datum
Portorož, Slovenija, 29.09.2008. - 01.10.2008

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
odometry; mobile robot; convex optimization; semidefinite programming relaxation

Sažetak
In this paper the methodology of convex optimization was applied to the problem of odometry calibration of differential drive mobile robots. In order to estimate the pose (i.e. position and orientation) of a mobile robot two calibration parameters are introduced to the kinematic model of a mobile robot. Optimal calibration parameters are the minimizers of the cost function penalizing the discrepancy between the exact and the estimated final position of the robot’ s trajectory. The conventional optimization methods are not applicable since the cost function – formulated as a non-convex polynomial function – has several local minima. By employing the method of successive relaxations the problem of minimizing a polynomial function can be recasted as a sequence of semidefinite programs, for which efficient computational algorithms exist. Moreover, these computational algorithms also provide a proof of global optimality of the solution. The methodology can be is easily applied to different calibration models and expanded to the problem of on-line odometry calibration.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

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