Title :
Calibrating a 4-wheel mobile robot
Author :
Kerrow, Phillip J M ; Ratner, Danny
Author_Institution :
Wollongong Univ., NSW, Australia
Abstract :
When a mobile robot is constructed the odometry must be calibrated. Calibrating a 4-wheel robot requires the accurate measurement of steering angle as well as translation and rotation. Some measurements are made with a tape measure and some with ultrasonic sensors. The measurements are used to determine the parameters of the odometry calibration matrix and the steering kinematic model. A procedure for calibrating a 4-wheel robot is discussed.
Keywords :
calibration; distance measurement; mobile robots; position control; robot kinematics; 4-wheel robot; calibrated; landmark navigation; mobile robot; odometry; odometry calibration matrix; steering kinematic model; ultrasonic sensors; Calibration; Dead reckoning; Kinematics; Legged locomotion; Mobile robots; Navigation; Robot sensing systems; Rotation measurement; Ultrasonic variables measurement; Wheels;
Conference_Titel :
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7398-7
DOI :
10.1109/IRDS.2002.1041498
