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Robotics 2016, 5(4), 23; doi:10.3390/robotics5040023

Auto-Calibration Methods of Kinematic Parameters and Magnetometer Offset for the Localization of a Tracked Mobile Robot

Dipartimento di Ingegneria Elettrica Elettronica e Informatica(DIEEI), Università degli Studi di Catania, Catania 95125, Italy
Author to whom correspondence should be addressed.
Academic Editor: Huosheng Hu
Received: 5 August 2016 / Revised: 10 October 2016 / Accepted: 27 October 2016 / Published: 1 November 2016


This paper describes an automatic calibration procedure adopted to improve the localization of an outdoor mobile robot. The proposed algorithm estimates, by using an extended Kalman filter, the main kinematic parameters of the vehicles, such as the wheel radii and the wheelbase as well as the magnetometer offset. Several trials have been performed to validate the proposed strategy on a tracked electrical mobile robot. The mobile robot is aimed to be adopted as a tool to help humanitarian demining operations. View Full-Text
Keywords: localization; field robot; kinematic parameters calibration localization; field robot; kinematic parameters calibration

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Cantelli, L.; Ligama, S.; Muscato, G.; Spina, D. Auto-Calibration Methods of Kinematic Parameters and Magnetometer Offset for the Localization of a Tracked Mobile Robot. Robotics 2016, 5, 23.

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