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Experimental investigation for better relative localization of a mobile robot using Taguchi method

Published online by Cambridge University Press:  08 April 2014

T. Mathavaraj Ravikumar  and
R. Saravanan
T. Mathavaraj Ravikumar*
Affiliation:
Department of Mechanical Engineering, United Institute of Technology, Coimbatore 641020, India
R. Saravanan
Affiliation:
JCT College of Engineering and Technology, Coimbatore 641105, India
*
*Corresponding author. E-mail: mathuravi@yahoo.com
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Summary

The positioning of a wheeled robot is an imperative manipulation problem in mobile robotics. Odometry is a familiar method for determining the relative position of a mobile robot. It comprises the detection of a set of kinematic parameters that permit reconstructing the robot's absolute position and orientation starting from the wheels' encoder measurements. This paper deals with the determination of better relative localization of a mobile robot by means of odometry by considering the influence of parameters namely total weight, speed, diameter of wheel, and width of wheel. Experiments have been conducted based on L9 orthogonal array suggested in Taguchi method to obtain the optimum condition. A mathematical model has also been developed for the mobile robot with the help of MINITAB software.

Keywords

Mobile robotOdometryRelative localizationTaguchi method
Type
Articles
Information
Robotica , Volume 33 , Issue 7 , August 2015 , pp. 1415 - 1423
Copyright
Copyright © Cambridge University Press 2014 

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