Auto-calibration of Systematic Odometry Errors in Mobile Robots

Martin Bak, Thomas Dall Larsen, Nils Axel Andersen, Ole Ravn

    Research output: Chapter in Book/Report/Conference proceedingBook chapterResearchpeer-review

    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.
    Original languageEnglish
    Title of host publicationProceedings of SPIE Vol. 3838, Mobile Robots XIV
    Publication date1999
    Pages252-263
    Publication statusPublished - 1999
    EventMobile Robots XIV - Boston, United States
    Duration: 20 Sept 199922 Sept 1999

    Conference

    ConferenceMobile Robots XIV
    Country/TerritoryUnited States
    CityBoston
    Period20/09/199922/09/1999

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