Title :
An odometry calibration method for mobile robots based on the least-squares technique
Author :
Antonelli, Gianluca ; Chiaverini, Stefano ; Fusco, Giuseppe
Author_Institution :
Dipt. di Automazione, Elettromagnetismo, Ingegneria, Universita degli Studi di Cassino, Italy
Abstract :
A method for odometry calibration of unicycle-like mobile robots is presented in this paper. The equations of motion are written so as to exploit linearity in a proper set of unknown parameters and the least-squares technique is then applied to estimate them. Experimental results show the effectiveness of the proposed technique in reducing the systematic odometric errors.
Keywords :
calibration; distance measurement; least squares approximations; mobile robots; motion measurement; least square technique; least-squares technique; mobile robot based; motion equation; odometry calibration method; systematic odometric error; unicycle-like mobile robot; Calibration; Equations; Frequency; Global Positioning System; Linearity; Mobile robots; Multisensor systems; Position measurement; Vehicles; Wheels;
Conference_Titel :
American Control Conference, 2003. Proceedings of the 2003
Print_ISBN :
0-7803-7896-2
DOI :
10.1109/ACC.2003.1244062
