Design of test track for accurate calibration of two wheel differential mobile robots

Changbae Jung; Chang bae Moon; Daun Jung; Jong Suk Choi; Woojin Chung

doi:10.1007/s12541-013-0305-6

Design of test track for accurate calibration of two wheel differential mobile robots

Changbae Jung, Chang bae Moon, Daun Jung, Jong Suk Choi, Woojin Chung

Research output: Contribution to journal › Article › peer-review

11 Citations (Scopus)

Abstract

Odometry using incremental wheel encoder sensors provides the relative position of a mobile robot. The major drawback of odometry is the accumulation of kinematic modeling errors when travel distance increases. The major systematic error sources are unequal wheel diameters and erroneous wheelbase. The UMBmark test is a practical and useful calibration scheme for systematic odometry errors of two wheel differential mobile robots. We previously proposed an accurate calibration scheme that extends the conventional UMBmark. A calibration experiment was carried out using the robot's heading errors, and kinematic parameters were derived by considering the coupled effect of the systematic errors on a test track. In this paper, we propose design guidelines of test tracks for odometry calibration. As non-systematic errors constitute a grave problem in practical applications, the test track shape and size should be determined by considering the distributions of systematic and non-systematic errors. Numerical simulations and experiments clearly demonstrate that the proposed scheme results in more accurate calibration results.

Original language	English
Pages (from-to)	53-61
Number of pages	9
Journal	International Journal of Precision Engineering and Manufacturing
Volume	15
Issue number	1
DOIs	https://doi.org/10.1007/s12541-013-0305-6
Publication status	Published - 2014 Jan

Bibliographical note

Funding Information:
This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MEST) (2013-029812). This research also was supported in part by the MKE(The Ministry of Knowledge Economy), Korea, under the Human Resources Development Program for Convergence Robot Specialists support program supervised by the NIPA (National IT Industry Promotion Agency) (NIPA-2013-H1502-13-1001). The research was also supported by the Implementation of Technologies for Identification, Behavior, and Location of Human based on Sensor Network Fusion Program through the Ministry of Knowledge Economy (Grant Number: 10041629).

Keywords

Calibration
Localization
Mobile robot
Odometry

ASJC Scopus subject areas

Mechanical Engineering
Industrial and Manufacturing Engineering
Electrical and Electronic Engineering

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10.1007/s12541-013-0305-6

Cite this

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title = "Design of test track for accurate calibration of two wheel differential mobile robots",

abstract = "Odometry using incremental wheel encoder sensors provides the relative position of a mobile robot. The major drawback of odometry is the accumulation of kinematic modeling errors when travel distance increases. The major systematic error sources are unequal wheel diameters and erroneous wheelbase. The UMBmark test is a practical and useful calibration scheme for systematic odometry errors of two wheel differential mobile robots. We previously proposed an accurate calibration scheme that extends the conventional UMBmark. A calibration experiment was carried out using the robot's heading errors, and kinematic parameters were derived by considering the coupled effect of the systematic errors on a test track. In this paper, we propose design guidelines of test tracks for odometry calibration. As non-systematic errors constitute a grave problem in practical applications, the test track shape and size should be determined by considering the distributions of systematic and non-systematic errors. Numerical simulations and experiments clearly demonstrate that the proposed scheme results in more accurate calibration results.",

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note = "Funding Information: This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MEST) (2013-029812). This research also was supported in part by the MKE(The Ministry of Knowledge Economy), Korea, under the Human Resources Development Program for Convergence Robot Specialists support program supervised by the NIPA (National IT Industry Promotion Agency) (NIPA-2013-H1502-13-1001). The research was also supported by the Implementation of Technologies for Identification, Behavior, and Location of Human based on Sensor Network Fusion Program through the Ministry of Knowledge Economy (Grant Number: 10041629).",

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N1 - Funding Information: This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MEST) (2013-029812). This research also was supported in part by the MKE(The Ministry of Knowledge Economy), Korea, under the Human Resources Development Program for Convergence Robot Specialists support program supervised by the NIPA (National IT Industry Promotion Agency) (NIPA-2013-H1502-13-1001). The research was also supported by the Implementation of Technologies for Identification, Behavior, and Location of Human based on Sensor Network Fusion Program through the Ministry of Knowledge Economy (Grant Number: 10041629).

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N2 - Odometry using incremental wheel encoder sensors provides the relative position of a mobile robot. The major drawback of odometry is the accumulation of kinematic modeling errors when travel distance increases. The major systematic error sources are unequal wheel diameters and erroneous wheelbase. The UMBmark test is a practical and useful calibration scheme for systematic odometry errors of two wheel differential mobile robots. We previously proposed an accurate calibration scheme that extends the conventional UMBmark. A calibration experiment was carried out using the robot's heading errors, and kinematic parameters were derived by considering the coupled effect of the systematic errors on a test track. In this paper, we propose design guidelines of test tracks for odometry calibration. As non-systematic errors constitute a grave problem in practical applications, the test track shape and size should be determined by considering the distributions of systematic and non-systematic errors. Numerical simulations and experiments clearly demonstrate that the proposed scheme results in more accurate calibration results.

AB - Odometry using incremental wheel encoder sensors provides the relative position of a mobile robot. The major drawback of odometry is the accumulation of kinematic modeling errors when travel distance increases. The major systematic error sources are unequal wheel diameters and erroneous wheelbase. The UMBmark test is a practical and useful calibration scheme for systematic odometry errors of two wheel differential mobile robots. We previously proposed an accurate calibration scheme that extends the conventional UMBmark. A calibration experiment was carried out using the robot's heading errors, and kinematic parameters were derived by considering the coupled effect of the systematic errors on a test track. In this paper, we propose design guidelines of test tracks for odometry calibration. As non-systematic errors constitute a grave problem in practical applications, the test track shape and size should be determined by considering the distributions of systematic and non-systematic errors. Numerical simulations and experiments clearly demonstrate that the proposed scheme results in more accurate calibration results.

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Design of test track for accurate calibration of two wheel differential mobile robots

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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