Changbae Jung, Woojin Chung
School of Mechanical Engineering, Korea University, Seoul 136-701, Korea
Abstract：Odometry using incremental wheel encoder sensors provides the relative robot pose estimation. However, the odometry suffers from the accumulation of kinematic modeling errors of wheels as the robot’s travel distance increases. Therefore, the systematic errors need to be calibrated. The University of Michigan Benchmark(UMBmark) method is a widely used calibration scheme of the systematic errors in two-wheel differential mobile robots. In this paper, the accurate parameter estimation of systematic errors is proposed by extending the conventional method. The contributions of this paper can be summarized as two issues. The first contribution is to present new calibration equations that reduce the systematic odometry errors. The new equations were derived to overcome the limitation of conventional schemes. The second contribution is to propose the design guideline of the test track for calibration experiments. The calibration performance can be improved by appropriate design of the test track. The simulations and experimental results show that the accurate parameter estimation can be implemented by the proposed method.
Key words：calibration; kinematic modeling errors; mobile robots; odometry; test tracks
CLD number： TP242.6 Document code： A
Article ID： 1674-8042(2012)03-0268-05 doi： 10.3969/j.issn.1674-8042.2012.03.014
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