TY - GEN
T1 - Calibration of kinematic parameters of a car-like mobile robot to improve odometry accuracy
AU - Lee, Kooktae
AU - Chung, Woojin
PY - 2008
Y1 - 2008
N2 - Recently, automatic parking assist systems have become commercially available in some cars. In order to improve the reliability and accuracy of parking control, pose estimation problem needs to be solved. Odometry is widely used for pose estimation of a mobile robot. However, most previous odometry calibration methods have focused on two wheeled mobile robots. In this paper, we consider systematic error sources of the Car-Like Mobile Robot(CLMR), and we suggest a useful calibration method for systematic errors. Finally, our calibration method is verified by experiments using a miniature car.
AB - Recently, automatic parking assist systems have become commercially available in some cars. In order to improve the reliability and accuracy of parking control, pose estimation problem needs to be solved. Odometry is widely used for pose estimation of a mobile robot. However, most previous odometry calibration methods have focused on two wheeled mobile robots. In this paper, we consider systematic error sources of the Car-Like Mobile Robot(CLMR), and we suggest a useful calibration method for systematic errors. Finally, our calibration method is verified by experiments using a miniature car.
UR - http://www.scopus.com/inward/record.url?scp=51649089954&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51649089954&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2008.4543596
DO - 10.1109/ROBOT.2008.4543596
M3 - Conference contribution
AN - SCOPUS:51649089954
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2546
EP - 2551
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -