TY - GEN
T1 - Odometry calibration for car-like mobile robots
AU - Seong, Jihoon
AU - Jung, Daun
AU - Chung, Woojin
N1 - Funding Information:
This Research was supported by the NRF, MSIP (NRF-2014R1A2A1A10049634), also supported by the ICCTDP(10063172), MOTIE, also supported by Agriculture, Food and Rural Affairs Research Center Support Program(714002-07), MAFRA, also supported by the ICCTDP(10048474), MOTIE.
PY - 2017/7/25
Y1 - 2017/7/25
N2 - In this paper, we propose a odometry calibration method for a mobile robot such as car-like mobile robots. The only end heading errors measured after track running experiments were used to calibrate mobile robots. There are two main advantages of using experimental heading error measurement. The first is to eliminate the approximation error and greatly reduce the calibration error. The second is the convenience of the experiment. The end heading error is conveniently measured by the mounted inertial sensor. Therefore, calibration experiments can be performed conveniently anywhere. Experimental results show that the proposed scheme can greatly improve the resulting calibration performance.
AB - In this paper, we propose a odometry calibration method for a mobile robot such as car-like mobile robots. The only end heading errors measured after track running experiments were used to calibrate mobile robots. There are two main advantages of using experimental heading error measurement. The first is to eliminate the approximation error and greatly reduce the calibration error. The second is the convenience of the experiment. The end heading error is conveniently measured by the mounted inertial sensor. Therefore, calibration experiments can be performed conveniently anywhere. Experimental results show that the proposed scheme can greatly improve the resulting calibration performance.
KW - Calibration
KW - Car-like mobile robot
KW - Localization
UR - http://www.scopus.com/inward/record.url?scp=85034230150&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85034230150&partnerID=8YFLogxK
U2 - 10.1109/URAI.2017.7992857
DO - 10.1109/URAI.2017.7992857
M3 - Conference contribution
AN - SCOPUS:85034230150
T3 - 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
SP - 889
EP - 890
BT - 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
Y2 - 28 June 2017 through 1 July 2017
ER -