Design of test tracks for odometry calibration of wheeled mobile robots

Changbae Jung, Woo Jin Chung

Research output: Contribution to journalArticle

5 Citations (Scopus)

Abstract

Pose estimation for mobile robots depends basically on accurate odometry information. Odometry from the wheel's encoder is widely used for simple and inexpensive implementation. As the travel distance increases, odometry suffers from kinematic modeling errors regarding the wheels. Therefore, in order to improve the odometry accuracy, it is necessary that systematic errors be calibrated. The UMBmark test is a practical and useful scheme for calibrating the systematic errors of two-wheeled mobile robots. However, the square path track size used in the test has not been validated. A consideration of the calibration equations, experimental conditions, and modeling errors is essential to improve the calibration accuracy. In this paper, we analyze the effect on calibration performance of the approximation errors of calibration equations and nonsystematic errors under experimental conditions. Then, we propose a test track size for improving the accuracy of odometry calibration. From simulation and experimental results, we show that the proposed test track size significantly improves the calibration accuracy of odometry under a normal range of kinematic modeling errors for robots.

Original languageEnglish
Pages (from-to)1-9
Number of pages9
JournalInternational Journal of Advanced Robotic Systems
Volume8
Issue number4
Publication statusPublished - 2011 Sep 12

Fingerprint

Mobile robots
Calibration
Systematic errors
Wheels
Kinematics
Robots

Keywords

  • Calibration
  • Mobile robots
  • Odometry
  • Systematic errors
  • Test tracks

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Computer Science Applications

Cite this

Design of test tracks for odometry calibration of wheeled mobile robots. / Jung, Changbae; Chung, Woo Jin.

In: International Journal of Advanced Robotic Systems, Vol. 8, No. 4, 12.09.2011, p. 1-9.

Research output: Contribution to journalArticle

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