2014
DOI: 10.7746/jkros.2014.9.3.160
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Design of Experimental Test Tracks for Odometry Calibration of Wheeled Mobile Robots

Abstract: Odometry using wheel encoder is a common relative positioning technique for wheeled mobile robots. The major drawback of odometry is that the kinematic modeling errors are accumulated when the travel distance increases. Therefore, accurate calibration of odometry is required. In several related works, various schemes for odometry calibration are proposed. However, design guidelines of test tracks for odometry calibration were not considered. More accurate odometry calibration results can be achieved by using a… Show more

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