Odometry calibration for car-like mobile robots

2017 ◽  
Author(s):  
Jihoon Seong ◽  
Daun Jung ◽  
Woojin Chung
Keyword(s):  
Mobile Robots ◽  
Odometry Calibration

scholarly journals Design of Experimental Test Tracks for Odometry Calibration of Wheeled Mobile Robots

2014 ◽  
Vol 9 (3) ◽  
pp. 160-169 ◽  
Author(s):  
Changbae Jung ◽  
Changbae Moon ◽  
Daun Jung ◽  
Woojin Chung
Keyword(s):  
Mobile Robots ◽  
Experimental Test ◽  
Wheeled Mobile Robots ◽  
Odometry Calibration

Laser interferometry measurements based calibration and error propagation identification for pose estimation in mobile robots

Robotica ◽  
2013 ◽  
Vol 32 (1) ◽  
pp. 165-174 ◽  
Author(s):  
Paulo A. Jiménez ◽  
Bijan Shirinzadeh
Keyword(s):  
Mobile Robots ◽  
Pose Estimation ◽  
Error Propagation ◽  
Laser Interferometry ◽  
Error Variance ◽  
Calibration Method ◽  
Novel Method ◽  
Position And Orientation ◽  
Odometry Calibration ◽  
Two Parameter

SUMMARYA widely used method for pose estimation in mobile robots is odometry. Odometry allows the robot in real time to reconstruct its position and orientation from the wheels' encoder measurements. Given to its unbounded nature, odometry calculation accumulates errors with quadratic increase of error variance with traversed distance. This paper develops a novel method for odometry calibration and error propagation identification for mobile robots. The proposed method uses a laser-based interferometer to measure distance precisely. Two variants of the proposed calibration method are examined: the two-parameter model and the three-parameter model. Experimental results obtained using a Khepera 3 mobile robot showed that both methods significantly increase accuracy of the pose estimation, validating the effectiveness of the proposed calibration method.

Deployment Control of Wireless Multi-Hop-Relay Mobile Robots Based on Voronoi Partition

2012 ◽  
Vol 132 (3) ◽  
pp. 381-388
Author(s):  
Takaaki Imaizumi ◽  
Hiroyuki Murakami ◽  
Yutaka Uchimura
Keyword(s):  
Mobile Robots ◽  
Voronoi Partition

Control of Mobile Robots by Means of Internet

2006 ◽  
Vol 65 (3) ◽  
pp. 229-241
Author(s):  
S. F. Yatsun ◽  
F. K. Freire ◽  
V. S. Dyshenko ◽  
O. A. Shadrina
Keyword(s):  
Mobile Robots
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