Naslov
An approach to odometry calibration of differential drive mobile robots

Autori
Ivanjko, Edouard ; Petrović, Ivan ; Perić, Nedjeljko

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the International Conference on Electrical Drives and Power Electronics, EDPE 2003 / - Pribylina-Podbanské : Slovak Electrotechnical Society, 2003, 519-523

Skup
International Conference on Electrical Drives and Power Electronics, EDPE 2003

Mjesto i datum
Podbanské, Slovačka, 24.09.2003. - 26.09.2003

Vrsta sudjelovanja
Poster

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Robotics; Optimisation; Electric vehicles

Sažetak
Odometry is the most widely used method for estimation of the momentary pose of mobile robots. It provides easily accessible real-time pose information between periodic absolute position measurements. However, with time, odometric localization accumulates errors in an unbounded fashion. This paper describes an approach to odometry calibration, which is based on two simple experiments. The proposed calibration method makes a correction mostly on the mobile robot orientation since this component of the mobile robot pose is more under systematic error influence.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA