Detailed Information
Cited 0 time in 
Cited 0 time in 
Cited 0 time in
Metadata Downloads
Kinematic parameter calibration of a car-like mobile robot to improve odometry accuracy
- Authors
- Lee, Kooktae; Chung, Woojin; Yoo, Kwanghyun
- Issue Date
- 8월-2010
- Publisher
- PERGAMON-ELSEVIER SCIENCE LTD
- Keywords
- Mobile robot; Calibration; Odometry; Pose recognition
- Citation
- MECHATRONICS, v.20, no.5, pp.582 - 595
- Indexed
- SCIE
SCOPUS
- Journal Title
- MECHATRONICS
- Volume
- 20
- Number
- 5
- Start Page
- 582
- End Page
- 595
- ISSN
- 0957-4158
- Abstract
- Odometry provides fundamental pose estimates for wheeled vehicles For accurate and reliable pose estimation, systematic and nonsystematic errors of odometry should be reduced. In this paper, we focus on systematic error sources of a car-like mobile robot (CLMR) and we suggest a novel calibration method. Kinematic parameters of the CLMR can be successfully calibrated by only a couple of test driving After reducing deterministic errors by calibration, odometry accuracy can be further improved by redundant odometry fusion with the extended Kalman filter (EKF) Odometry fusion reduces nonsystematic or stochastic errors. Experimental verifications are carried out using a radio-controlled miniature car (C) 2010 Elsevier Ltd. All rights reserved
- 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
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.