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

被引：42

作者：

Lee, Kooktae ^{[1
]}

Chung, Woojin ^{[1
]}

Yoo, Kwanghyun ^{[1
]}

机构：

[1] Korea Univ, Sch Mech Engn, Seoul 137713, South Korea

来源：

MECHATRONICS | 2010年 / 20卷 / 05期

关键词：

Mobile robot; Calibration; Odometry; Pose recognition; LOCALIZATION; ERROR;

D O I：

10.1016/j.mechatronics.2010.06.002

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 (C) 2010 Elsevier Ltd. All rights reserved

引用

页码：582 / 595

页数：14

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