Design of Test Tracks for Odometry Calibration of Wheeled Mobile Robots

Abstract

Pose estimation for mobile robots depends basically on accurate odometry information. Odometry from the wheel's encoder is widely used for simple and inexpensive implementation. As the travel distance increases, odometry suffers from kinematic modeling errors regarding the wheels. Therefore, in order to improve the odometry accuracy, it is necessary that systematic errors be calibrated. The UMBmark test is a practical and useful scheme for calibrating the systematic errors of two-wheeled mobile robots. However, the square path track size used in the test has not been validated. A consideration of the calibration equations, experimental conditions, and modeling errors is essential to improve the calibration accuracy. In this paper, we analyze the effect on calibration performance of the approximation errors of calibration equations and nonsystematic errors under experimental conditions. Then, we propose a test track size for improving the accuracy of odometry calibration. From simulation and experimental results, we show that the proposed test track size significantly improves the calibration accuracy of odometry under a normal range of kinematic modeling errors for robots.

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 …”

Experimental investigation for better relative localization of a mobile robot using Taguchi method

“…For a typical two-wheeled robot, odometry remains as one of the most important means of achieving this task. 8,11 Many authors have concentrated on the accurate calibration of odometry, 18,21 measuring amount of errors in odometry, and development of models for minimizing the odometry errors 4,19,22 in wheeled robots. Also, researchers have focused on the optimum path planning in mobile robots 14,26 and the stability analyses in mobile robots.…”