Calibration of kinematic parameters of a car-like mobile robot to improve odometry accuracy

Kooktae Lee, Woo Jin Chung

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

18 Citations (Scopus)

Abstract

Recently, automatic parking assist systems have become commercially available in some cars. In order to improve the reliability and accuracy of parking control, pose estimation problem needs to be solved. Odometry is widely used for pose estimation of a mobile robot. However, most previous odometry calibration methods have focused on two wheeled mobile robots. In this paper, we consider systematic error sources of the Car-Like Mobile Robot(CLMR), and we suggest a useful calibration method for systematic errors. Finally, our calibration method is verified by experiments using a miniature car.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2546-2551
Number of pages6
DOIs
Publication statusPublished - 2008 Sep 18
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: 2008 May 192008 May 23

Other

Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
CountryUnited States
CityPasadena, CA
Period08/5/1908/5/23

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Lee, K., & Chung, W. J. (2008). Calibration of kinematic parameters of a car-like mobile robot to improve odometry accuracy. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 2546-2551). [4543596] https://doi.org/10.1109/ROBOT.2008.4543596