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

Lee, Kooktae; Chung, Woojin; Yoo, Kwanghyun

doi:10.1016/j.mechatronics.2010.06.002

Cited by 50 publications

(22 citation statements)

References 7 publications

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“…이후에는 오도메트 리 모델을 3가지 인자로 표현하고 최소자승법을 이용하여 그 값을 구하였다 [9] . 여러 연구에서 이륜차동구동형로봇 [2,[6][7][8][9][10] , 차량형로봇 [11] , 싱크로구동로봇 [12][13] 에 대한 보정기법이 cos ( 2) sin( 2) …”

Section: 서 론unclassified

Accurate Calibration of Kinematic Parameters for Two Wheel Differential Drive Robots by Considering the Coupled Effect of Error Sources

Lee¹,

Jung²,

Jung³

et al. 2014

The Journal of Korea Robotics Society

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Section: 서 론unclassified

Accurate Calibration of Kinematic Parameters for Two Wheel Differential Drive Robots by Considering the Coupled Effect of Error Sources

Lee¹,

Jung²,

Jung³

et al. 2014

The Journal of Korea Robotics Society

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“…For the calibration problem of a car-like mobile robot, the design guidelines and considerations are presented in Refs. [14][15][16].…”

Section: Design Of the Test Trackmentioning

confidence: 99%

“…[1,[3][4][5][6][7][8][9][10][11][12][13][14]. This paper deals with two wheel differential mobile robots.…”

Section: Introductionmentioning

confidence: 99%

Accurate calibration of kinematic parameters for two wheel differential mobile robots

2011

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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.

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“…In [9,10,11] extensive work focusing on the systematic error to achieve minimal path planning errors has been evaluated, while in [12] an algorithm for minimizing the maximum path length in real time has been presented. Furthermore,30 in [13], a new scheme based on calibration equations, introducing fewer approximation errors in order to reduce kinematic modeling errors, was proposed.…”

Section: Introductionmentioning

confidence: 99%

Effect of kinematic parameters on MPC based on-line motion planning for an articulated vehicle

Nayl

Nikolakopoulos

Gustafsson

2015

Robotics and Autonomous Systems

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The aim of this article is to analyze the effect of kinematic parameters on a novel proposed on-line motion planning algorithm for an articulated vehicle based on Model Predictive Control. The kinematic parameters that are going to be investigated are the vehicle's velocity, the maximum allowable change in the articulated steering angle, the safety distance from the obstacles and the total number of obstacles in the operating arena. The proposed modified path planning algorithm for the articulated vehicle belongs to the family of Bug-Like algorithms and is able to take under consideration, the mechanical and physical constraints of the articulated vehicle, as well as its full kinematic model. During the on-line motion planning algorithm, the MPC controller controls the lateral motion of the vehicle, through the rate of the articulation angle, while driving it accurately and safely over the on-line formulated desired path. The efficiency of the proposed combined path planning and control scheme is being evaluated under numerous simulated test cases, while exhaustive simulations have been made for analyzing the dependency of the proposed framework on the kinematic parameters.

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

Cited by 50 publications

References 7 publications

Accurate Calibration of Kinematic Parameters for Two Wheel Differential Drive Robots by Considering the Coupled Effect of Error Sources

Accurate Calibration of Kinematic Parameters for Two Wheel Differential Drive Robots by Considering the Coupled Effect of Error Sources

Accurate calibration of kinematic parameters for two wheel differential mobile robots

Effect of kinematic parameters on MPC based on-line motion planning for an articulated vehicle

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