Design of test track for accurate calibration of two wheel differential mobile robots

Changbae Jung, Chang bae Moon, Daun Jung, JongSuk Choi, Woo Jin Chung

Research output: Contribution to journalArticle

6 Citations (Scopus)

Abstract

Odometry using incremental wheel encoder sensors provides the relative position of a mobile robot. The major drawback of odometry is the accumulation of kinematic modeling errors when travel distance increases. The major systematic error sources are unequal wheel diameters and erroneous wheelbase. The UMBmark test is a practical and useful calibration scheme for systematic odometry errors of two wheel differential mobile robots. We previously proposed an accurate calibration scheme that extends the conventional UMBmark. A calibration experiment was carried out using the robot's heading errors, and kinematic parameters were derived by considering the coupled effect of the systematic errors on a test track. In this paper, we propose design guidelines of test tracks for odometry calibration. As non-systematic errors constitute a grave problem in practical applications, the test track shape and size should be determined by considering the distributions of systematic and non-systematic errors. Numerical simulations and experiments clearly demonstrate that the proposed scheme results in more accurate calibration results.

Original languageEnglish
Pages (from-to)53-61
Number of pages9
JournalInternational Journal of Precision Engineering and Manufacturing
Volume15
Issue number1
DOIs
Publication statusPublished - 2014 Jan 1

Fingerprint

Mobile robots
Wheels
Calibration
Systematic errors
Kinematics
Experiments
Robots
Sensors
Computer simulation

Keywords

  • Calibration
  • Localization
  • Mobile robot
  • Odometry

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

Cite this

Design of test track for accurate calibration of two wheel differential mobile robots. / Jung, Changbae; Moon, Chang bae; Jung, Daun; Choi, JongSuk; Chung, Woo Jin.

In: International Journal of Precision Engineering and Manufacturing, Vol. 15, No. 1, 01.01.2014, p. 53-61.

Research output: Contribution to journalArticle

@article{e25133ef0b3e423dbabe6b8105165016,
title = "Design of test track for accurate calibration of two wheel differential mobile robots",
abstract = "Odometry using incremental wheel encoder sensors provides the relative position of a mobile robot. The major drawback of odometry is the accumulation of kinematic modeling errors when travel distance increases. The major systematic error sources are unequal wheel diameters and erroneous wheelbase. The UMBmark test is a practical and useful calibration scheme for systematic odometry errors of two wheel differential mobile robots. We previously proposed an accurate calibration scheme that extends the conventional UMBmark. A calibration experiment was carried out using the robot's heading errors, and kinematic parameters were derived by considering the coupled effect of the systematic errors on a test track. In this paper, we propose design guidelines of test tracks for odometry calibration. As non-systematic errors constitute a grave problem in practical applications, the test track shape and size should be determined by considering the distributions of systematic and non-systematic errors. Numerical simulations and experiments clearly demonstrate that the proposed scheme results in more accurate calibration results.",
keywords = "Calibration, Localization, Mobile robot, Odometry",
author = "Changbae Jung and Moon, {Chang bae} and Daun Jung and JongSuk Choi and Chung, {Woo Jin}",
year = "2014",
month = "1",
day = "1",
doi = "10.1007/s12541-013-0305-6",
language = "English",
volume = "15",
pages = "53--61",
journal = "International Journal of Precision Engineering and Manufacturing",
issn = "1229-8557",
publisher = "Korean Society of Precision Engineering",
number = "1",

}

TY - JOUR

T1 - Design of test track for accurate calibration of two wheel differential mobile robots

AU - Jung, Changbae

AU - Moon, Chang bae

AU - Jung, Daun

AU - Choi, JongSuk

AU - Chung, Woo Jin

PY - 2014/1/1

Y1 - 2014/1/1

N2 - Odometry using incremental wheel encoder sensors provides the relative position of a mobile robot. The major drawback of odometry is the accumulation of kinematic modeling errors when travel distance increases. The major systematic error sources are unequal wheel diameters and erroneous wheelbase. The UMBmark test is a practical and useful calibration scheme for systematic odometry errors of two wheel differential mobile robots. We previously proposed an accurate calibration scheme that extends the conventional UMBmark. A calibration experiment was carried out using the robot's heading errors, and kinematic parameters were derived by considering the coupled effect of the systematic errors on a test track. In this paper, we propose design guidelines of test tracks for odometry calibration. As non-systematic errors constitute a grave problem in practical applications, the test track shape and size should be determined by considering the distributions of systematic and non-systematic errors. Numerical simulations and experiments clearly demonstrate that the proposed scheme results in more accurate calibration results.

AB - Odometry using incremental wheel encoder sensors provides the relative position of a mobile robot. The major drawback of odometry is the accumulation of kinematic modeling errors when travel distance increases. The major systematic error sources are unequal wheel diameters and erroneous wheelbase. The UMBmark test is a practical and useful calibration scheme for systematic odometry errors of two wheel differential mobile robots. We previously proposed an accurate calibration scheme that extends the conventional UMBmark. A calibration experiment was carried out using the robot's heading errors, and kinematic parameters were derived by considering the coupled effect of the systematic errors on a test track. In this paper, we propose design guidelines of test tracks for odometry calibration. As non-systematic errors constitute a grave problem in practical applications, the test track shape and size should be determined by considering the distributions of systematic and non-systematic errors. Numerical simulations and experiments clearly demonstrate that the proposed scheme results in more accurate calibration results.

KW - Calibration

KW - Localization

KW - Mobile robot

KW - Odometry

UR - http://www.scopus.com/inward/record.url?scp=84891891805&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84891891805&partnerID=8YFLogxK

U2 - 10.1007/s12541-013-0305-6

DO - 10.1007/s12541-013-0305-6

M3 - Article

AN - SCOPUS:84891891805

VL - 15

SP - 53

EP - 61

JO - International Journal of Precision Engineering and Manufacturing

JF - International Journal of Precision Engineering and Manufacturing

SN - 1229-8557

IS - 1

ER -