Back to Search
Start Over
A Calibration Method for Odometry of Mobile Robots Based on the Least-Squares Technique: Theory and Experimental Validation.
- Source :
- IEEE Transactions on Robotics; Oct2005, Vol. 21 Issue 5, p994-1004, 11p
- Publication Year :
- 2005
-
Abstract
- For a mobile robot, odometry calibration consists of the identification of a set of kinematic parameters that allow reconstructing the yes hide's absolute position and orientation starting from the wheels' encoder measurements. This paper develops a systematic method for odometry calibration of differential-drive mobile robots. As a first step, the kinematic equations are written so as to underline linearity in a suitable set of unknown parameters; thus, the least-squares method can be applied to estimate them. A major advantage of the adopted formulation is that it provides a quantitative measure of the optimality of a test motion; this can be exploited to drive guidelines on the choice of the test trajectories and to evaluate accuracy of a solution. The proposed technique has been experimentally validated on two different mobile robots and, in one case, compared with other existing approaches; the obtained results confirm the effectiveness of the proposed calibration method. [ABSTRACT FROM AUTHOR]
- Subjects :
- ROBOTS
MOBILE robots
STANDARDIZATION
ROBOTICS
INDUSTRIAL engineering
CALIBRATION
Subjects
Details
- Language :
- English
- ISSN :
- 15523098
- Volume :
- 21
- Issue :
- 5
- Database :
- Complementary Index
- Journal :
- IEEE Transactions on Robotics
- Publication Type :
- Academic Journal
- Accession number :
- 18530670
- Full Text :
- https://doi.org/10.1109/TRO.2005.851382