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Proceedings Paper

Autocalibration of systematic odometry errors in mobile robots
Author(s): Martin Bak; Thomas Dall Larsen; Nils A. Andersen; Ole Ravn
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Paper Abstract

This paper describes the phenomenon of systematic errors in odometry models in mobile robots and looks at various ways of avoiding it by means of auto-calibration. The systematic errors considered are incorrect knowledge of the wheel base and the gains from encoder readings to wheel displacement. By auto-calibration we mean a standardized procedure which estimates the uncertainties using only on-board equipment such as encoders, an absolute measurement system and filters; no intervention by operator or off-line data processing is necessary. Results are illustrated by a number of simulations and experiments on a mobile robot.

Paper Details

Date Published: 15 November 1999
PDF: 12 pages
Proc. SPIE 3838, Mobile Robots XIV, (15 November 1999); doi: 10.1117/12.369259
Show Author Affiliations
Martin Bak, Technical Univ. of Denmark (Denmark)
Thomas Dall Larsen, Technical Univ. of Denmark (Denmark)
Nils A. Andersen, Technical Univ. of Denmark (Denmark)
Ole Ravn, Technical Univ. of Denmark (Denmark)

Published in SPIE Proceedings Vol. 3838:
Mobile Robots XIV
Douglas W. Gage; Howie M. Choset, Editor(s)

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