Using LOG Method to Measure Errors of Mobile Robots' Location

Abstract:

This paper presents an innovative Method to Measure Errors Of Mobile Robots Location. The innovative method is composed of a Laser pointer with Optical cross mark and a Grid paper (LOG method). The errors of a mobile robots location are included the precision and accuracy of the translation and rotation. Using the measured errors, the performance of a mobile robot can be evaluated. The Mecanum wheel is a conventional wheel with a series of rollers attached to its circumference and can move in any direction. In this research, the three encoders are used on a mobile robot with three Mecanum wheels. The three Mecanum wheels are mounted on the robot round frame as a base of the moving platform. Mecanum wheels are independently powered using three units of precisian gear DC motors and the wheel/motor assemblies were mounted directly to the robot round frame. The slip occurs always by the rollers attached to conventional wheel's circumference. The force modeling and the innovative evaluating system for the precision and accuracy of the translation and rotation is focused on this research. By using a laser pointer with cross optical mark and a sheet of mm grid paper on the mobile robot, a fast and stable testing set up for the precision and accuracy of the translation and rotation is build. Through LOG method, and according certain testing process the precision and accuracy of the translation and rotation of a mobile robot can be fast evaluated and analyzed, respectively. The experiment result shows that the mobile robot moves sideways the distance from 0.25m to1.5m at the speed 1m/s fast, stable and easily to finish. The error of translation and rotation of the mobile robot can be fast determined respectively. And the performance of a mobile robot can be fast evaluated by every run at the stop localization immediately.

• Periodical: Applied Mechanics and Materials (Volume 339)
• Pages: 205-210
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.339.205
• Online since: July 2013
• Authors: Tsing Tshih Tsung, Yu Chieh Chang, Tien Li Chen
• Keywords: Accuracy, LOG Method, Mecanum Wheel, Mobile Robot, Performance, Precision

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