Autocalibration of systematic odometry errors in mobile robots

Martin Bak; Thomas Dall Larsen; Nils A. Andersen; Ole Ravn

doi:10.1117/12.369259

15 November 1999 Autocalibration of systematic odometry errors in mobile robots

Martin Bak, Thomas Dall Larsen, Nils A. Andersen, Ole Ravn

Proceedings Volume 3838, Mobile Robots XIV; (1999) https://doi.org/10.1117/12.369259
Event: Photonics East '99, 1999, Boston, MA, United States

Abstract

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 or off-line data processing is necessary. Results are illustrated by a number of simulations and experiments on a mobile robot.

Citation Download Citation

Martin Bak, Thomas Dall Larsen, Nils A. Andersen, and Ole Ravn "Autocalibration of systematic odometry errors in mobile robots", Proc. SPIE 3838, Mobile Robots XIV, (15 November 1999); https://doi.org/10.1117/12.369259

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