Odometry calibration for car-like mobile robots

Abstract

In this paper, we propose a odometry calibration method for a mobile robot such as car-like mobile robots. The only end heading errors measured after track running experiments were used to calibrate mobile robots. There are two main advantages of using experimental heading error measurement. The first is to eliminate the approximation error and greatly reduce the calibration error. The second is the convenience of the experiment. The end heading error is conveniently measured by the mounted inertial sensor. Therefore, calibration experiments can be performed conveniently anywhere. Experimental results show that the proposed scheme can greatly improve the resulting calibration performance.