Simultaneous Calibration of Odometry and external Sensors of Omnidirectional Automated Guided Vehicles (AGVs)
Conference: ISR 2016 - 47st International Symposium on Robotics
06/21/2016 - 06/22/2016 at München, Germany
Proceedings: ISR 2016
Pages: 8Language: englishTyp: PDFPersonal VDE Members are entitled to a 10% discount on this title
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.