Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Accurate Calibration of Odometry Errors for Wheeled Mobile Robots by using Experimental Orientation Errors

차륜형 이동로봇의 방향각오차를 이용한 오도메트리 정밀보정기법

  • Jung, Changbae (Department of Mechanical Engineering, Korea Univ.) ;
  • Jung, Daun (Department of Mechanical Engineering, Korea Univ.) ;
  • Chung, Woojin (Department of Mechanical Engineering, Korea Univ.)
  • Received : 2013.12.13
  • Accepted : 2014.03.03
  • Published : 2014.04.01
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Abstract

Accurate estimation of the robot's position has an important role in autonomous navigation. Odometry is one of the most widely used techniques for mobile robot positioning. However, odometry has a well-known drawback that the position errors are accumulated when the travel distance increases. The UMBmark method is the conventional odometry calibration scheme for two wheel differential mobile robots. In the UMBmark method, the approximations for small angles are used in order to simplify the calculations. In this paper, we propose the new calibration scheme by using experimental orientation errors. Kinematic parameters can be calculated accurately without approximations by using experimental orientation errors. The numerical simulation and experimental results show that the odometry accuracy can be improved by the proposed method.

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References

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