Convergence analysis of kinematic parameter calibration for a car-like mobile robot

Kwanghyun Yoo, Kooktae Lee, Changbae Jung, Woo Jin Chung

Research output: Contribution to journalArticle

Abstract

Automated parking assist systems are being commercialized and rapidly spread in the market. In order to improve odometry accuracy, we proposed a practical odometry calibration scheme of Car-Like Mobile Robot (CLMR). However, there were some open problems in our prior work. For example, it was not clear whether the kinematic parameters always converged or not using the proposed calibration scheme. In addition, test driving had to be carried out "twice" without detailed explanation. This research aims to provide answers for the addressed questions though the convergence property analysis of the calibration scheme. In this paper, we evaluate on the effect of the kinematic parameter error on the odometry error at the final pose by numerical computation. The evaluation will show that the wheel diameter and tread of the CLMR can be calibrated by iterative test drives. In addition, the region of convergence in the parametric space will be discussed. Presented experimental results clearly showed that the proposed calibration scheme would be useful in practical applications.

Original languageEnglish
Pages (from-to)1256-1265
Number of pages10
JournalJournal of Institute of Control, Robotics and Systems
Volume17
Issue number12
DOIs
Publication statusPublished - 2011 Dec 1

Fingerprint

Convergence Analysis
Mobile Robot
Mobile robots
Kinematics
Calibration
Railroad cars
Parking
Convergence Properties
Numerical Computation
Wheel
Open Problems
Wheels
Evaluate
Evaluation
Experimental Results

Keywords

  • Automatic parking control
  • Calibration
  • Car-like mobile robot
  • Odometry

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Applied Mathematics

Cite this

Convergence analysis of kinematic parameter calibration for a car-like mobile robot. / Yoo, Kwanghyun; Lee, Kooktae; Jung, Changbae; Chung, Woo Jin.

In: Journal of Institute of Control, Robotics and Systems, Vol. 17, No. 12, 01.12.2011, p. 1256-1265.

Research output: Contribution to journalArticle

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