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Odometry - PowerPoint PPT Presentation


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Odometry. Basic Odometry Concept. Common Wheel Encoders. Magnetic Pickup – used in most ABS Hall Effect Optical. Magnetic Pickup ABS. Incremental Optical Encoder w/ Biphase Output. Systematic Errors. Unequal wheel diameters.

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Presentation Transcript
common wheel encoders
Common Wheel Encoders
  • Magnetic Pickup – used in most ABS
  • Hall Effect
  • Optical
systematic errors
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.
non systematic errors
Non-Systematic Errors
  • Travel over uneven terrain
  • Travel over unexpected objects
  • Wheel-slippage
  • Change in tire shape over time
references
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.