Kinematic parameter calibration of a car-like mobile robot to improve odometry accuracy

Kooktae Lee, Woo Jin Chung, Kwanghyun Yoo

Research output: Contribution to journalArticle

37 Citations (Scopus)

Abstract

Odometry provides fundamental pose estimates for wheeled vehicles. For accurate and reliable pose estimation, systematic and nonsystematic errors of odometry should be reduced. In this paper, we focus on systematic error sources of a car-like mobile robot (CLMR) and we suggest a novel calibration method. Kinematic parameters of the CLMR can be successfully calibrated by only a couple of test driving. After reducing deterministic errors by calibration, odometry accuracy can be further improved by redundant odometry fusion with the extended Kalman filter (EKF). Odometry fusion reduces nonsystematic or stochastic errors. Experimental verifications are carried out using a radio-controlled miniature car.

Original languageEnglish
Pages (from-to)582-595
Number of pages14
JournalMechatronics
Volume20
Issue number5
DOIs
Publication statusPublished - 2010 Aug 1

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Keywords

  • Calibration
  • Mobile robot
  • Odometry
  • Pose recognition

ASJC Scopus subject areas

  • Mechanical Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications

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