Title :
Convergence analysis of kinematic parameter calibration for a Car-Like Mobile Robot
Author :
Yoo, Kwanghyun ; Chung, Woojin
Author_Institution :
Sch. of Mech. Eng., Korea Univ., Seoul, South Korea
Abstract :
Automated parking assist systems are being commercialized and rapidly spread in the market. In order to improve odometry accuracy, we proposed a practical odometry calibration scheme of Car-Like Mobile Robot (CLMR) in. However, there were some open problems in our prior work. For example, it was not clear whether the kinematic parameters always converged or not using the proposed calibration scheme. In addition, test driving had to be carried out ldquotwicerdquo without detailed explanation. This research aims to provide answers for the addressed questions though the convergence property analysis of the calibration scheme. In this paper, we evaluate on the effect of the kinematic parameter error on the odometry error at the final pose by numerical computation. The evaluation will show that the wheel diameter and tread of the CLMR can be calibrated by iterative test drives. In addition, the region of convergence in the parametric space will be discussed. Presented experimental results clearly showed that the proposed calibration scheme would be useful in practical applications.
Keywords :
calibration; convergence; distance measurement; mobile robots; robot kinematics; vehicle dynamics; automated parking assist system; car-like mobile robot; convergence property analysis; iterative test drive; kinematic parameter calibration; odometry calibration; odometry error; Calibration; Convergence; Intelligent robots; Kinematics; Mechanical engineering; Mobile robots; Testing; Tracking loops; Vehicles; Wheels;
Conference_Titel :
Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-2852-6
DOI :
10.1109/AIM.2009.5229924