Auto-calibration of systematic odometry errors in mobile robots

This paper describes the phenomenon of systematic errors in odometry models in mobile robots and looks at various ways of avoiding it by means of auto-calibration. The systematic errors considered are incorrect knowledge of the wheel base and the gains from encoder readings to wheel displacement. By auto-calibration we mean a standardized procedure which estimates the uncertainties using only on-board equipment such as encoders, an absolute measurement system and filters; no intervention by operator of off-line data processing is necessary. Results are illustrated by a number of simulations and experiments on a mobile robot.