Odometry calibration for car-like mobile robots

Jihoon Seong, Daun Jung, Woo Jin Chung

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

Abstract

In this paper, we propose a odometry calibration method for a mobile robot such as car-like mobile robots. The only end heading errors measured after track running experiments were used to calibrate mobile robots. There are two main advantages of using experimental heading error measurement. The first is to eliminate the approximation error and greatly reduce the calibration error. The second is the convenience of the experiment. The end heading error is conveniently measured by the mounted inertial sensor. Therefore, calibration experiments can be performed conveniently anywhere. Experimental results show that the proposed scheme can greatly improve the resulting calibration performance.

Original languageEnglish
Title of host publication2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages889-890
Number of pages2
ISBN (Electronic)9781509030552
DOIs
Publication statusPublished - 2017 Jul 25
Event14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017 - Jeju, Korea, Republic of
Duration: 2017 Jun 282017 Jul 1

Other

Other14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
CountryKorea, Republic of
CityJeju
Period17/6/2817/7/1

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Keywords

  • Calibration
  • Car-like mobile robot
  • Localization

ASJC Scopus subject areas

  • Computer Science Applications
  • Biomedical Engineering
  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Optimization

Cite this

Seong, J., Jung, D., & Chung, W. J. (2017). Odometry calibration for car-like mobile robots. In 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017 (pp. 889-890). [7992857] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2017.7992857