Detailed Information

Cited 0 time in webofscience Cited 0 time in scopus
Metadata Downloads

Accurate calibration of kinematic parameters for two wheel differential mobile robots

Authors
Lee, KooktaeJung, ChangbaeChung, Woojin
Issue Date
6월-2011
Publisher
KOREAN SOC MECHANICAL ENGINEERS
Keywords
Calibration; Localization; Mobile robots; Odometry; Systematic errors
Citation
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.25, no.6, pp.1603 - 1611
Indexed
SCIE
SCOPUS
KCI
Journal Title
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY
Volume
25
Number
6
Start Page
1603
End Page
1611
URI
https://scholar.korea.ac.kr/handle/2021.sw.korea/112393
DOI
10.1007/s12206-011-0334-y
ISSN
1738-494X
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.
Files in This Item
There are no files associated with this item.
Appears in
Collections
College of Engineering > Department of Mechanical Engineering > 1. Journal Articles

qrcode

Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.

Related Researcher

Researcher CHUNG, Woo Jin photo

CHUNG, Woo Jin
공과대학 (기계공학부)
Read more

Altmetrics

Total Views & Downloads

BROWSE