Accurate calibration of two wheel differential mobile robots by using experimental heading errors

Changbae Jung, Woojin Chung

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

Odometry using wheel encoders provides fundamental pose estimates for wheeled mobile robots. Systematic errors of odometry can be reduced by the calibration of kinematic parameters. The UMBmark method is one of the widely used calibration schemes for two wheel differential mobile robot. In this paper, the accurate calibration scheme of kinematic parameters is proposed by extending the conventional UMBmark. The contributions of this paper can be summarized as two issues. The first contribution is to present new calibration scheme that reduce the approximation error of calibration equations in UMBmark method. The new equations were derived from the robot's final orientation errors in test track. The second contribution is to propose the consideration of the coupled effects between wheel diameter errors and wheelbase errors in test track for calibration experiments. The calibration performance can be significantly improved by applying new calibration equations were derived to overcome the limitations of the conventional scheme. The numerical simulations and experimental results show that the odometry accuracy can be improved by the proposed calibration schemes.

Original languageEnglish
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4533-4538
Number of pages6
ISBN (Print)9781467314039
DOIs
Publication statusPublished - 2012 Jan 1
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: 2012 May 142012 May 18

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period12/5/1412/5/18

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Jung, C., & Chung, W. (2012). Accurate calibration of two wheel differential mobile robots by using experimental heading errors. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 4533-4538). [6224660] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6224660