Systematic Odometry Error Modeling and Correction in Wheeled Robots

Zhong Da Yu; Yan Bo Pei; Dong Xiang Shao

doi:10.4028/www.scientific.net/KEM.579-580.675

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HomeKey Engineering MaterialsKey Engineering Materials Vols. 579-580Systematic Odometry Error Modeling and Correction...

Systematic Odometry Error Modeling and Correction in Wheeled Robots

Abstract:

Odometry is a relative position measuring method widely used in robot position estimation. However, the error accumulates in an unbounded fashion. In this paper, a new model based on castors is proposed. The final pose accuracy is only affected by the position of castors according to the new model. Experiment is also conducted to demonstrate the feasibility and high accuracy of the new method.

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Periodical:

Key Engineering Materials (Volumes 579-580)

Pages:

675-679

DOI:

https://doi.org/10.4028/www.scientific.net/KEM.579-580.675

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Online since:

September 2013

Authors:

Zhong Da Yu, Yan Bo Pei, Dong Xiang Shao

Keywords:

Odometry, Position Estimation, Systematic Error, Wheeled Robot

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