Accurate calibration of kinematic parameters for two wheel differential mobile robots
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, Kooktae | - |
dc.contributor.author | Jung, Changbae | - |
dc.contributor.author | Chung, Woojin | - |
dc.date.accessioned | 2021-09-07T12:12:03Z | - |
dc.date.available | 2021-09-07T12:12:03Z | - |
dc.date.created | 2021-06-14 | - |
dc.date.issued | 2011-06 | - |
dc.identifier.issn | 1738-494X | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/112393 | - |
dc.description.abstract | Odometry using wheel encoders provides fundamental pose estimates for wheeled mobile robots. Systematic errors of odometry can be reduced by the calibration of kinematic parameters. The UMBmark method is one of the widely used calibration schemes for two wheel differential mobile robot. In this paper, an accurate calibration scheme of kinematic parameters is proposed by extending the conventional UMBmark. The contributions of this paper can be summarized as two issues. The first contribution is to present new calibration equations that remarkably reduce the systematic error of odometry. The new equations were derived to overcome the limitation of the conventional schemes. The second contribution is to propose the design guideline of the test track for calibration experiments. The calibration performance can be significantly improved by appropriate design of the test track. The numerical simulations and experimental results show that the odometry accuracy can be improved by the proposed calibration schemes. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | KOREAN SOC MECHANICAL ENGINEERS | - |
dc.title | Accurate calibration of kinematic parameters for two wheel differential mobile robots | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Chung, Woojin | - |
dc.identifier.doi | 10.1007/s12206-011-0334-y | - |
dc.identifier.scopusid | 2-s2.0-79961137712 | - |
dc.identifier.wosid | 000291619200027 | - |
dc.identifier.bibliographicCitation | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.25, no.6, pp.1603 - 1611 | - |
dc.relation.isPartOf | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | - |
dc.citation.title | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | - |
dc.citation.volume | 25 | - |
dc.citation.number | 6 | - |
dc.citation.startPage | 1603 | - |
dc.citation.endPage | 1611 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.identifier.kciid | ART001555679 | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalWebOfScienceCategory | Engineering, Mechanical | - |
dc.subject.keywordAuthor | Calibration | - |
dc.subject.keywordAuthor | Localization | - |
dc.subject.keywordAuthor | Mobile robots | - |
dc.subject.keywordAuthor | Odometry | - |
dc.subject.keywordAuthor | Systematic errors | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
(02841) 서울특별시 성북구 안암로 14502-3290-1114
COPYRIGHT © 2021 Korea University. All Rights Reserved.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.