Model-Based Motion Control and Drift Compensation through Pose Estimation

This contribution is about controlling the pose of an automated logistics vehicle by use of a Light Detection and Ranging sensor with the help of the Robot Operating System. A drift caused by the mounted Mecanum wheels and the inhomogeneous mass distribution is reduced while driving by the proposal drift compensation. This is achieved by using the estimated robot pose provided by a Simultaneous Localization and Mapping approach. Based on the Robot Operation System, the data transfer and automated functions are realized. Utilizing the model-based method of Conceptual Design Specification Technique for the Engineering of Mechatronic Systems partial implementation of this system is simplified.