Convergence analysis of kinematic parameter calibration for a car-like mobile robot
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Yoo, K. | - |
dc.contributor.author | Lee, K. | - |
dc.contributor.author | Jung, C. | - |
dc.contributor.author | Chung, W. | - |
dc.date.accessioned | 2021-09-07T20:14:59Z | - |
dc.date.available | 2021-09-07T20:14:59Z | - |
dc.date.created | 2021-06-17 | - |
dc.date.issued | 2011 | - |
dc.identifier.issn | 1976-5622 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/114576 | - |
dc.description.abstract | Automated parking assist systems are being commercialized and rapidly spread in the market. In order to improve odometry accuracy, we proposed a practical odometry calibration scheme of Car-Like Mobile Robot (CLMR). However, there were some open problems in our prior work. For example, it was not clear whether the kinematic parameters always converged or not using the proposed calibration scheme. In addition, test driving had to be carried out twice without detailed explanation. This research aims to provide answers for the addressed questions though the convergence property analysis of the calibration scheme. In this paper, we evaluate on the effect of the kinematic parameter error on the odometry error at the final pose by numerical computation. The evaluation will show that the wheel diameter and tread of the CLMR can be calibrated by iterative test drives. In addition, the region of convergence in the parametric space will be discussed. Presented experimental results clearly showed that the proposed calibration scheme would be useful in practical applications. © ICROS 2011. | - |
dc.language | Korean | - |
dc.language.iso | ko | - |
dc.subject | Automated parking | - |
dc.subject | Automatic parking | - |
dc.subject | Car-like mobile robots | - |
dc.subject | Convergence analysis | - |
dc.subject | Convergence properties | - |
dc.subject | Kinematic parameters | - |
dc.subject | Numerical computations | - |
dc.subject | Odometry | - |
dc.subject | Odometry calibration | - |
dc.subject | Odometry errors | - |
dc.subject | Parametric spaces | - |
dc.subject | Region of convergence | - |
dc.subject | Test drive | - |
dc.subject | Kinematics | - |
dc.subject | Mobile robots | - |
dc.subject | Parks | - |
dc.subject | Calibration | - |
dc.title | Convergence analysis of kinematic parameter calibration for a car-like mobile robot | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Chung, W. | - |
dc.identifier.doi | 10.5302/J.ICROS.2011.17.12.1256 | - |
dc.identifier.scopusid | 2-s2.0-84861211589 | - |
dc.identifier.bibliographicCitation | Journal of Institute of Control, Robotics and Systems, v.17, no.12, pp.1256 - 1265 | - |
dc.relation.isPartOf | Journal of Institute of Control, Robotics and Systems | - |
dc.citation.title | Journal of Institute of Control, Robotics and Systems | - |
dc.citation.volume | 17 | - |
dc.citation.number | 12 | - |
dc.citation.startPage | 1256 | - |
dc.citation.endPage | 1265 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.identifier.kciid | ART001605599 | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.subject.keywordPlus | Automated parking | - |
dc.subject.keywordPlus | Automatic parking | - |
dc.subject.keywordPlus | Car-like mobile robots | - |
dc.subject.keywordPlus | Convergence analysis | - |
dc.subject.keywordPlus | Convergence properties | - |
dc.subject.keywordPlus | Kinematic parameters | - |
dc.subject.keywordPlus | Numerical computations | - |
dc.subject.keywordPlus | Odometry | - |
dc.subject.keywordPlus | Odometry calibration | - |
dc.subject.keywordPlus | Odometry errors | - |
dc.subject.keywordPlus | Parametric spaces | - |
dc.subject.keywordPlus | Region of convergence | - |
dc.subject.keywordPlus | Test drive | - |
dc.subject.keywordPlus | Kinematics | - |
dc.subject.keywordPlus | Mobile robots | - |
dc.subject.keywordPlus | Parks | - |
dc.subject.keywordPlus | Calibration | - |
dc.subject.keywordAuthor | Automatic parking control | - |
dc.subject.keywordAuthor | Calibration | - |
dc.subject.keywordAuthor | Car-like mobile robot | - |
dc.subject.keywordAuthor | Odometry | - |
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.