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이동로봇의 오도메트리 정밀도 향상을 위한 구조적 오차 보정 기법
정창배(Changbae Jung),이국태(Kooktae Lee),정우진(Woojin Chung) 대한기계학회 2010 대한기계학회 춘추학술대회 Vol.2010 No.11
Odometry using wheel encoders provides fundamental pose estimates for mobile robots. Pose estimation by pure odometry does not require environmental modification or prior knowledge of environment. However, the major drawback of odometry is the accumulation of errors. Due to the accumulation of odometry errors, the calibration of systematic errors is necessary. The reduction of systematic errors directly contributes to the improvement of odometry accuracy. In this paper, we propose two schemes for more accurate correction of odometry errors. At first, we analyze the UMBmark method, then suggest simultaneous errors which exist in actual robot motion. Secondly, an optimized size of the test track for odometry corrections is presented. Simulations and experimental results show the efficiency of the proposed method.
차량형 이동로봇의 기구학적 파라미터 보정을 위한 수렴성 분석
유광현(Kwanghyun Yoo),이국태(Kooktae Lee),정창배(Changbae Jung),정우진(Woojin Chung) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.12
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). 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 “twice” 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.