Abstract
For a mobile robot, odometry calibration consists of the identification of a set of kinematic parameters that allow reconstructing the vehicle'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.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
