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 language | English |
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| Title of host publication | Proceedings of SPIE Vol. 3838, Mobile Robots XIV |
| Publication date | 1999 |
| Pages | 252-263 |
| Publication status | Published - 1999 |
| Event | Mobile Robots XIV - Boston, MA, USA Duration: 1 Jan 1999 → … |
Conference
| Conference | Mobile Robots XIV |
|---|---|
| City | Boston, MA, USA |
| Period | 01/01/1999 → … |