The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Calibration of Mobile Robot with Single Wheel Powered Caster

단일 바퀴 구동 캐스터 기반 모바일 로봇의 캘리브레이션

  • Kim, Hyoung Cheol (Graduate School of Convergence Science and Technology, Seoul National University) ;
  • Park, Suhan (Graduate School of Convergence Science and Technology, Seoul National University) ;
  • Park, Jaeheung (Graduate School of Convergence Science and Technology, ASRI, RICS, Seoul National University)
  • Received : 2022.03.23
  • Accepted : 2022.04.29
  • Published : 2022.05.31
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Abstract

Accurate kinematic parameters of mobile robots are essential because inaccurate kinematic model produces considerable uncertainties on its odometry and control. Especially, kinematic parameters of caster type mobile robots are important due to their complex kinematic model. Despite the importance of accurate kinematic parameters for caster type mobile robots, few research dealt with the calibration of the kinematic model. Previous study proposed a calibration method that can only calibrate double-wheeled caster type mobile robot and requires direct-measuring of robot center point and distance between casters. This paper proposes a calibration method based on geometric approach that can calibrate single-wheeled caster type mobile robot with two or more casters, does not require direct-measuring, and can successfully acquire all kinematic parameters required for control and odometry. Simulation and hardware experiments conducted in this paper validates the proposed calibration method and shows its performance.

Keywords

Acknowledgement

This work was supported by Industrial Strategic Technology Development Program (No. 20015420) funded By the Ministry of Trade, Industry & Energy (MOTIE, Korea)

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