Measurement and Correction of Systematic Odometry Errors Caused by Kinematics Imperfections in Mobile Robots

Abbas, Tanveer; Arif, Muhammad; Ahmed, Waqas

doi:10.1109/sice.2006.315554

Cited by 38 publications

(29 citation statements)

References 2 publications

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“…Abbas [7] 는 정사각형 경로가 아니라 원형 경로를 시계 및 반시계방향으로 주행하고, 주행 경로의 반경을 측정하여 오차를 보정하는 BCPT(Bi-directional Circular Path Test)를 제 안하였다. Martinelli [8] 는 싱크로구동형 로봇의 오도메트리 오차를 시스템적 오차 및 비시스템적 오차를 나타내는 4 개의 파라미터(병진 및 회전)로 모델링하고 평가하는 방법 을 제안하였다.…”

Section: 오도메트리의 오차 원인은 크게 시스템적 오차와 비시unclassified

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

Jung¹,

Moon²,

Jung³

et al. 2014

The Journal of Korea Robotics Society

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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 appropriate test track because the position and orientation errors after the test are affected by the test track. In this paper, we propose the design guidelines of test tracks for odometry calibration schemes using experimental heading errors. Numerical simulations and experiments clearly demonstrate that the proposed design guidelines result in more accurate calibration results.

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Section: 오도메트리의 오차 원인은 크게 시스템적 오차와 비시unclassified

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

Jung¹,

Moon²,

Jung³

et al. 2014

The Journal of Korea Robotics Society

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“…Abbas [6] 는 BCPT(Bi-directional cicular path test)를 제 안하였다. BCPT기법은 시계 및 반시계방향으로 원형경로 를 주행 한 후, 실제로 주행한 경로의 반지름을 비교하여 시스템적 오차를 보정하게 된다.…”

Section: 서 론unclassified

“…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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“…Once detected, they initiate countermeasures to correct pose measurements. Abbas et al (2006) developed a test for measuring systematic errors in wheel diameters. By driving the platform in two circles, one clockwise and one counterclockwise, and measuring the radius of each path, they calculate parameters for compensating the odometry.…”

Section: Introductionmentioning

confidence: 99%

Improving odometry using a controlled point laser

Epton

Hoover

2012

Auton Robot

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We describe methods to improve an odometry estimate of motion using a single point range-finding laser. The laser measures the distance to an arbitrary point on a flat surface. After some motion, the odometry estimate of the motion is used to aim the laser to measure the distance to the same point. Through geometric methods the discrepancy in the expected and measured distances can be used to update the odometer estimate of the motion. We present experiments using a mobile robot, pan-tilt unit and laser. Our method could be incorporated into any simultaneous localization and mapping (SLAM) algorithm.

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Measurement and Correction of Systematic Odometry Errors Caused by Kinematics Imperfections in Mobile Robots

Cited by 38 publications

References 2 publications

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

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

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

Improving odometry using a controlled point laser

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