Non-Parametric Calibration of the Inverse Kinematic Matrix of a Three-Wheeled Omnidirectional Mobile Robot Based on Genetic Algorithms

Odometry is a computation method that provides a periodic estimation of the relative displacements performed by a mobile robot based on its inverse kinematic matrix, its previous orientation and position, and the estimation of the angular rotational velocity of its driving wheels. Odometry is cumula...

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Detalles Bibliográficos
Autores: Palacín Roca, Jordi, Rubies, Elena, Bitriá Ribes, Ricard, Clotet Bellmunt, Eduard
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2023
País:España
Institución:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
Repositorio:Recercat. Dipósit de la Recerca de Catalunya
OAI Identifier:oai:recercat.cat:10459.1/85352
Acceso en línea:https://doi.org/10.3390/app13021053
http://hdl.handle.net/10459.1/85352
Access Level:acceso abierto
Palabra clave:Odometry
Odometry calibration
Inverse kinematic
Omnidirectional mobile robot
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spelling Non-Parametric Calibration of the Inverse Kinematic Matrix of a Three-Wheeled Omnidirectional Mobile Robot Based on Genetic AlgorithmsPalacín Roca, JordiRubies, ElenaBitriá Ribes, RicardClotet Bellmunt, EduardOdometryOdometry calibrationInverse kinematicOmnidirectional mobile robotOdometry is a computation method that provides a periodic estimation of the relative displacements performed by a mobile robot based on its inverse kinematic matrix, its previous orientation and position, and the estimation of the angular rotational velocity of its driving wheels. Odometry is cumulatively updated from tens to hundreds of times per second, so any inaccuracy in the definition of the inverse kinematic matrix of a robot leads to systematic trajectory errors. This paper proposes a non-parametric calibration of the inverse kinematic (IK) matrix of a three-wheeled omnidirectional mobile robot based on the use of genetic algorithms (GA) to minimize the positioning error registered in a set of calibration trajectories. The application of this non-parametric procedure has provided an average improvement of 82% in the estimation of the final position and orientation of the mobile robot. This is similar to the improvement achieved with analogous parametric methods. The advantage of this non-parametric approach is that it covers a larger search space because it eliminates the need to define feasible physical limits to the search performed to calibrate the inverse kinematic matrix of the mobile robot.This research has been partially funded by the Departament de Recerca i Universitats de la Generalitat de Catalunya: FI SDUR 2022 grant.MDPI2023info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttps://doi.org/10.3390/app13021053http://hdl.handle.net/10459.1/85352reponame:Recercat. Dipósit de la Recerca de Catalunyainstname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)InglésReproducció del document publicat a https://doi.org/10.3390/app13021053Applied Sciences, 2023, vol. 13, núm. 2, 1053cc-by (c) Palacín, J. et al., 2023info:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by/4.0/oai:recercat.cat:10459.1/853522026-05-29T05:05:01Z
dc.title.none.fl_str_mv Non-Parametric Calibration of the Inverse Kinematic Matrix of a Three-Wheeled Omnidirectional Mobile Robot Based on Genetic Algorithms
title Non-Parametric Calibration of the Inverse Kinematic Matrix of a Three-Wheeled Omnidirectional Mobile Robot Based on Genetic Algorithms
spellingShingle Non-Parametric Calibration of the Inverse Kinematic Matrix of a Three-Wheeled Omnidirectional Mobile Robot Based on Genetic Algorithms
Palacín Roca, Jordi
Odometry
Odometry calibration
Inverse kinematic
Omnidirectional mobile robot
title_short Non-Parametric Calibration of the Inverse Kinematic Matrix of a Three-Wheeled Omnidirectional Mobile Robot Based on Genetic Algorithms
title_full Non-Parametric Calibration of the Inverse Kinematic Matrix of a Three-Wheeled Omnidirectional Mobile Robot Based on Genetic Algorithms
title_fullStr Non-Parametric Calibration of the Inverse Kinematic Matrix of a Three-Wheeled Omnidirectional Mobile Robot Based on Genetic Algorithms
title_full_unstemmed Non-Parametric Calibration of the Inverse Kinematic Matrix of a Three-Wheeled Omnidirectional Mobile Robot Based on Genetic Algorithms
title_sort Non-Parametric Calibration of the Inverse Kinematic Matrix of a Three-Wheeled Omnidirectional Mobile Robot Based on Genetic Algorithms
dc.creator.none.fl_str_mv Palacín Roca, Jordi
Rubies, Elena
Bitriá Ribes, Ricard
Clotet Bellmunt, Eduard
author Palacín Roca, Jordi
author_facet Palacín Roca, Jordi
Rubies, Elena
Bitriá Ribes, Ricard
Clotet Bellmunt, Eduard
author_role author
author2 Rubies, Elena
Bitriá Ribes, Ricard
Clotet Bellmunt, Eduard
author2_role author
author
author
dc.subject.none.fl_str_mv Odometry
Odometry calibration
Inverse kinematic
Omnidirectional mobile robot
topic Odometry
Odometry calibration
Inverse kinematic
Omnidirectional mobile robot
description Odometry is a computation method that provides a periodic estimation of the relative displacements performed by a mobile robot based on its inverse kinematic matrix, its previous orientation and position, and the estimation of the angular rotational velocity of its driving wheels. Odometry is cumulatively updated from tens to hundreds of times per second, so any inaccuracy in the definition of the inverse kinematic matrix of a robot leads to systematic trajectory errors. This paper proposes a non-parametric calibration of the inverse kinematic (IK) matrix of a three-wheeled omnidirectional mobile robot based on the use of genetic algorithms (GA) to minimize the positioning error registered in a set of calibration trajectories. The application of this non-parametric procedure has provided an average improvement of 82% in the estimation of the final position and orientation of the mobile robot. This is similar to the improvement achieved with analogous parametric methods. The advantage of this non-parametric approach is that it covers a larger search space because it eliminates the need to define feasible physical limits to the search performed to calibrate the inverse kinematic matrix of the mobile robot.
publishDate 2023
dc.date.none.fl_str_mv 2023
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv https://doi.org/10.3390/app13021053
http://hdl.handle.net/10459.1/85352
url https://doi.org/10.3390/app13021053
http://hdl.handle.net/10459.1/85352
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv Reproducció del document publicat a https://doi.org/10.3390/app13021053
Applied Sciences, 2023, vol. 13, núm. 2, 1053
dc.rights.none.fl_str_mv cc-by (c) Palacín, J. et al., 2023
info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by/4.0/
rights_invalid_str_mv cc-by (c) Palacín, J. et al., 2023
http://creativecommons.org/licenses/by/4.0/
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv MDPI
publisher.none.fl_str_mv MDPI
dc.source.none.fl_str_mv reponame:Recercat. Dipósit de la Recerca de Catalunya
instname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
instname_str Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
reponame_str Recercat. Dipósit de la Recerca de Catalunya
collection Recercat. Dipósit de la Recerca de Catalunya
repository.name.fl_str_mv
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