로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제9권1호
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  • Pages.39-47
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  • 2014
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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이륜차동구동형로봇의 복합오차를 고려한 기구학적 파라미터 정밀보정기법

Accurate Calibration of Kinematic Parameters for Two Wheel Differential Drive Robots by Considering the Coupled Effect of Error Sources

  • 투고 : 2013.11.29
  • 심사 : 2014.02.06
  • 발행 : 2014.02.28
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초록

Odometry using wheel encoders is one of the fundamental techniques for the pose estimation of wheeled mobile robots. However, odometry has a drawback that the position errors are accumulated when the travel distance increases. Therefore, position errors are required to be reduced using appropriate calibration schemes. The UMBmark method is the one of the widely used calibration schemes for two wheel differential drive robots. In UMBmark method, it is assumed that odometry error sources are independent. However, there is coupled effect of odometry error sources. In this paper, a new calibration scheme by considering the coupled effect of error sources is proposed. We also propose the test track design for the proposed calibration scheme. The numerical simulation and experimental results show that the odometry accuracy can be improved by the proposed calibration scheme.

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참고문헌

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피인용 문헌

  1. 물체 운반을 위한 다수 로봇의 협조제어 vol.10, pp.3, 2015, https://doi.org/10.7746/jkros.2015.10.3.139