Analysis of sensor characteristics and error eliminations of a wheeled mobile robot with range sensors

摘要

This paper introduces some preprocedures that eliminate nonzero mean errors of odometry result and range sensor data of a wheeled mobile robot. After that, the sensing results from odometry and range sensor are more reliable. In the beginning of this paper, some analyses of sensor characteristics are discussed and three kinds of error are classified. Because of these errors, results of sensing data are unreliable and make inappropriate control decisions. To solve this problem, some “error elimination architectures” are designed to lower the effects of errors or remove errors.