Accurate calibration of kinematic parameters for two wheel differential mobile robots

Abstract

Odometry using wheel encoders provides fundamental pose estimates for wheeled mobile robots. Systematic errors of odometry can be reduced by the calibration of kinematic parameters. The UMBmark method is one of the widely used calibration schemes for two wheel differential mobile robot. In this paper, an accurate calibration scheme of kinematic parameters is proposed by extending the conventional UMBmark. The contributions of this paper can be summarized as two issues. The first contribution is to present new calibration equations that remarkably reduce the systematic error of odometry. The new equations were derived to overcome the limitation of the conventional schemes. The second contribution is to propose the design guideline of the test track for calibration experiments. The calibration performance can be significantly improved by appropriate design of the test track. The numerical simulations and experimental results show that the odometry accuracy can be improved by the proposed calibration schemes.

A New Application of Smart Walker for Quantitative Analysis of Human Walking

“…According to the kinematic model shown in Fig. 2, the changes of the walker's position can be obtained as follows [29]:…”

Design of Experimental Test Tracks for Odometry Calibration of Wheeled Mobile Robots

“…Chong [16] 은 로봇의 주행 이전의 연구에서는 이륜차동구동형로봇에 대해 오차원 인간의 복합효과를 고려한 정밀한 오도메트리 보정기법 [17] 을 제안하고 적절한 주행시험경로 설계를 통한 보정성능 향상 [18] 을 보였다. 또한, 최종 방향각 오차를 이용하는 새로 운 오도메트리 보정기법 [19] 을 …”

Accurate calibration of two wheel differential mobile robots by using experimental heading errors

“…Illustration of the UMBmark method [1] and Lee's method [17] (a) Type A errors (b) Type B errors Fig. 1 shows the UMBmark method [1] procedure for correcting the systematic odometry errors by bi-directional square path experiments.…”

“…The calibration equations are derived with consideration of the coupled effect of wheel diameter error and wheelbase error at each 90° turning motion on the test track. In [17], however, the calibration scheme includes the approximation errors and the coupled effect for a straight motion was not considered.…”