A novel method to measure and correct the odometry errors in mobile robots

Author

Bostani, Ali ; Vakili, Ahmad ; Denidni, Tayb A.

Author_Institution

Inst. Nat. de la Rech. Sci. (INRS), Varennes, QC

fYear

2008

fDate

4-7 May 2008

Abstract

This paper presents a novel and still simple method for odometry errors measurement and compensation. For a typical differential drive mobile robot, the three dominant and systematic error sources (unequal wheelspsila diameter, imprecise average wheels diameter and uncertainty about the effective wheelbase) are investigated. It is shown that the mobile robot, calibrated by using the proposed algorithm, has noticeable Odometric accuracy. Calibration coefficients are obtained by accurate measurements of the wheelspsila diameter ratios and the effective wheelbase. Then these coefficients are applied to the mobile robot through the driverpsilas controller software.

Keywords

calibration; distance measurement; measurement errors; mobile robots; differential drive mobile robot; driver controller software; odometry error correction; odometry error measurement; Application software; Calibration; Equations; Error correction; Mobile robots; Performance evaluation; Rubber products; Tires; Uncertainty; Wheels; Mobile Robot; Odometry; Optical encoder; Systematic Errors;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical and Computer Engineering, 2008. CCECE 2008. Canadian Conference on

Conference_Location

Niagara Falls, ON

ISSN

0840-7789

Print_ISBN

978-1-4244-1642-4

Electronic_ISBN

0840-7789

Type

conf

DOI

10.1109/CCECE.2008.4564665

Filename

4564665