Title :
Odometry calibration of a car-like mobile robot
Author :
Lee, Kooktae ; Chung, Woojin ; Chang, Hyo Whan ; Yoon, PalJoo
Author_Institution :
Korea Univ., Seoul
Abstract :
Odometry is widely used for pose estimation of a mobile robot. However, most of previous odometry calibration methods focused on two wheeled mobile robots. In this paper, we consider systematic error sources for the CLMR and we suggest a useful calibration method. Finally, Experimental verifications are carried out using a miniature car.
Keywords :
automobiles; distance measurement; mobile robots; pose estimation; position control; car-like mobile robot; miniature car; odometry calibration; pose estimation; systematic error sources; two wheeled mobile robots; Automatic control; Axles; Calibration; Centralized control; Control systems; Equations; Integrated circuit modeling; Mobile robots; Robotics and automation; Wheels; CLMR; car-like mobile robot; odometry calibration; systematic error calibration;
Conference_Titel :
Control, Automation and Systems, 2007. ICCAS '07. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-6-2
Electronic_ISBN :
978-89-950038-6-2
DOI :
10.1109/ICCAS.2007.4406986
