Auto-calibration of systematic odometry errors in mobile robots

被引：2

作者：

Bak, M ^{[1
]}

Larsen, TD ^{[1
]}

Andersen, NA ^{[1
]}

Ravn, O ^{[1
]}

机构：

[1] Tech Univ Denmark, Dept Automat, DK-2800 Lyngby, Denmark

来源：

MOBILE ROBOTS XIV | 1999年 / 3838卷

关键词：

odometry; mobile robots; extended Kalman filter; calibration;

D O I：

10.1117/12.369259

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：252 / 263

页数：12

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