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.
|Title of host publication||Proceedings of SPIE Vol. 3838, Mobile Robots XIV|
|Publication status||Published - 1999|
|Event||Mobile Robots XIV - Boston, MA, USA|
Duration: 1 Jan 1999 → …
|Conference||Mobile Robots XIV|
|City||Boston, MA, USA|
|Period||01/01/1999 → …|