Title:
METHOD FOR CALIBRATING ODOMETRY ERROR OF CAR-TYPE MOBILE ROBOT USING HEADING ANGLE ERROR
Document Type and Number:
WIPO Patent Application WO/2016/010288
Kind Code:
A1
Abstract:
The present invention relates to a method for calibrating an odometry error of a car-type mobile robot using a heading angle error, the method comprising the steps of: (a) establishing a systematic error calibration model which is modeled for a systematic error of a car-type mobile robot according to traveling on a test track having a curved section and a straight section; (b) traveling along the test track by the car-type mobile robot to be calibrated; (c) calculating a kinematic error parameter on the basis of an actual heading angle error of the car-type mobile robot to be calibrated at the end point on the test track; and (d) calibrating a systematic error of the car-type mobile robot to be calibrated by applying the calculated kinematic error parameter to the systematic error calibration model. Accordingly, the present invention can achieve more accurate odometry calibration by eliminating the use of an approximation for calibrating an odometry error of a car-type mobile robot.
Inventors:
CHUNG WOO-JIN (KR)
JUNG DA-UN (KR)
JUNG DA-UN (KR)
Application Number:
PCT/KR2015/006871
Publication Date:
January 21, 2016
Filing Date:
July 03, 2015
Export Citation:
Assignee:
UNIV KOREA RES & BUS FOUND (KR)
International Classes:
B25J9/10; B25J5/00
Foreign References:
| KR20110121129A | 2011-11-07 | |||
| KR101222298B1 | 2013-01-15 |
Other References:
JUNG, CHANG BAE ET AL.: "Accurate Calibration of Odometry Errors for Wheeled Mobile Robots by using Experimental Orientation Errors", JOURNAL OF THE KOREAN SOCIETY FOR PRECISION ENGINEERING, vol. 31, no. 4, April 2014 (2014-04-01), pages 319 - 326
Attorney, Agent or Firm:
NAMCHON INTERNATIONAL PATENT AND LAW FIRM (KR)
특허법인 남촌 (KR)
특허법인 남촌 (KR)
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