Title :
Systematic odometry errors compensation for mobile robot positioning
Author :
Bostan, Ioncl ; LitÀ, Ioan ; Franti, Eduard ; Dascalu, Momca ; Moldovan, Carmen ; Goschin, Sergu
Author_Institution :
Univ. of Pitesti, Romania
Abstract :
This paper presents some aspects about measurement and compensation of the systematic odometry errors for differential drive platforms. The experimental results obtained by running two different UMBmark tests show that systematic calibration can reduce systematic odometry errors more than 10 times.
Keywords :
benchmark testing; calibration; distance measurement; error compensation; measurement errors; mobile robots; navigation; position control; UMBmark tests; differential drive platforms; error compensation; incremental motions; mobile robot positioning; robot navigation system; square-path; systematic calibration; systematic odometry errors; unequal wheel diameters; Calibration; Error compensation; Error correction; Mobile robots; Navigation; Position measurement; Rough surfaces; Surface roughness; System testing; Wheels;
Conference_Titel :
CAD Systems in Microelectronics, 2003. CADSM 2003. Proceedings of the 7th International Conference. The Experience of Designing and Application of
Print_ISBN :
966-553-278-2
DOI :
10.1109/CADSM.2003.1255162
