Calibration of kinematic parameters of a car-like mobile robot to improve odometry accuracy

Kooktae Lee, Woojin Chung

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    33 Citations (Scopus)

    Abstract

    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.

    Original languageEnglish
    Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
    Pages2546-2551
    Number of pages6
    DOIs
    Publication statusPublished - 2008
    Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
    Duration: 2008 May 192008 May 23

    Publication series

    NameProceedings - IEEE International Conference on Robotics and Automation
    ISSN (Print)1050-4729

    Other

    Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
    Country/TerritoryUnited States
    CityPasadena, CA
    Period08/5/1908/5/23

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering

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