Odometry calibration for car-like mobile robots

Jihoon Seong; Daun Jung; Woojin Chung

doi:10.1109/URAI.2017.7992857

Odometry calibration for car-like mobile robots

Jihoon Seong
, Daun Jung
, Woojin Chung^*

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

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.

Original language	English
Title of host publication	2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	889-890
Number of pages	2
ISBN (Electronic)	9781509030552
DOIs	https://doi.org/10.1109/URAI.2017.7992857
Publication status	Published - 2017 Jul 25
Event	14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017 - Jeju, Korea, Republic of Duration: 2017 Jun 28 → 2017 Jul 1

Publication series

Name	2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017

Other

Other	14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
Country/Territory	Korea, Republic of
City	Jeju
Period	17/6/28 → 17/7/1

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

Keywords

Calibration
Car-like mobile robot
Localization

ASJC Scopus subject areas

Computer Science Applications
Biomedical Engineering
Artificial Intelligence
Human-Computer Interaction
Control and Optimization

Access to Document

10.1109/URAI.2017.7992857

Cite this

Seong, J., Jung, D., & Chung, W. (2017). Odometry calibration for car-like mobile robots. In 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017 (pp. 889-890). Article 7992857 (2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2017.7992857

Odometry calibration for car-like mobile robots. / Seong, Jihoon; Jung, Daun; Chung, Woojin.
2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 889-890 7992857 (2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Seong, J, Jung, D & Chung, W 2017, Odometry calibration for car-like mobile robots. in 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017., 7992857, 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017, Institute of Electrical and Electronics Engineers Inc., pp. 889-890, 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017, Jeju, Korea, Republic of, 17/6/28. https://doi.org/10.1109/URAI.2017.7992857

Seong J, Jung D, Chung W. Odometry calibration for car-like mobile robots. In 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 889-890. 7992857. (2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017). doi: 10.1109/URAI.2017.7992857

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Odometry calibration for car-like mobile robots

Abstract

Publication series

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Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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