Calibration of Mobile Robotic Systems: A Pilot Study

Proceedings

Yaser Maddahi¹ 

[1] Project neuroArm, Cumming School of Medicine, University of Calgary, 3280 Hospital Dr NW, Calgary, AB T2N 4Z6, Canada;

关键词: calibration;    sensory system;    positional error;    performance analysis;    wheeled mobile robot;   

DOI  :  10.3390/ecsa-4-04931

来源: DOAJ

【 摘 要 】

The type of wheeled mobile robots (WMRs) may affect the level of positional errors during motion. The errors are inevitable, as caused by imperfections in design to fabrication, and need to be rectified using calibration techniques. This paper uses the odometry method to provide improved short-term accuracy with high sampling rates. Odometry is economical and requires fewer landmarks and simpler sensory system to localize WMRs, compared to other existing techniques such as 3D camera error detection. The context introduces an odometry-based method to correct the motion of a WMR with two-wheeled mechanism. Experimental results showed that positional errors were significantly improved after applying outcome of the calibration.

【 授权许可】

Unknown