Odometry - PowerPoint PPT Presentation

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Odometry
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Odometry

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Presentation Transcript

  1. Odometry

  2. Basic Odometry Concept

  3. Common Wheel Encoders • Magnetic Pickup – used in most ABS • Hall Effect • Optical

  4. Magnetic Pickup ABS

  5. Incremental Optical Encoder w/ Biphase Output

  6. Systematic Errors • Unequal wheel diameters. • Average of actual wheel diameters differs from nominal wheel diameter. • Actual wheelbase differs from nominal wheelbase. • Misalignment of wheels. • Finite encoder resolution. • Finite encoder sampling rate.

  7. Non-Systematic Errors • Travel over uneven terrain • Travel over unexpected objects • Wheel-slippage • Change in tire shape over time

  8. Odometry Trailer

  9. References http://hostingprod.com/@aa1car.com/library/abs1.htm “All About ABS”; Carley, Larry; CarleySofware, 2000 http://www-personal.engin.umich.edu/~johannb/index.html Personal web page for Johann Borenstein of Univ of Michigan – many links to papers on odometry including the UMBmark standard.