Simultaneous Calibration of Odometry and external Sensors of Omnidirectional Automated Guided Vehicles (AGVs)

Konferenz: ISR 2016 - 47st International Symposium on Robotics
21.06.2016 - 22.06.2016 in München, Germany

Tagungsband: ISR 2016

Seiten: 8Sprache: EnglischTyp: PDF

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Hess, Daniel; Kuenemund, Frank; Roehrig, Christof (University of Applied Sciences and Arts in Dortmund, Germany)

This paper discusses a method of simultaneous self calibrating sensors and odometry of omnidirectional Automated Guided Vehicles (AGVs). By using the measurements of safety Laser Range Finders (LRFs) and a gyroscope the exact parameters of the odometry are calculated and experimentally verified, as well as the sensors coordinates are determined with respect to the vehicle’s coordinate frame.