Evolution of odometry calibration methods for ground mobile robots

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2020

Autores

Ricardo B. Sousa (Autor) FEUP; Marcelo R. Petry (Autor) Outra; António Paulo Moreira (Autor) FEUP

Ata de Conferência Internacional

Título: 2020 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2020, Ponta Delgada, Portugal, April 15-17, 2020

Páginas: 294-299

2020 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2020

15 April 2020 through 16 April 2020

Indexação

ISI Web of Knowledge - 15 Citações

ISI Web of Science

Scopus - 19 Citações

INSPEC

Outras Informações

ID Authenticus: P-00S-3ZZ

DOI: 10.1109/icarsc49921.2020.9096154

Abstract (EN): Localisation is a critical problem in ground mobile robots. For dead reckoning, odometry is usually used. A disadvantage of using it alone is unbounded error accumulation. So, odometry calibration is critical in reducing error propagation. This paper presents an analysis of the developments and advances of systematic methods for odometry calibration. Four steering geometries were analysed, namely differential drive, Ackerman, tricycle and omnidirectional. It highlights the advances made on this field and covers the methods since UMBmark was proposed. The points of analysis are the techniques and test paths used, errors considered in calibration, and experiments made to validate each method. It was obtained fifteen methods for differential drive, three for Ackerman, two for tricycle, and three for the omnidirectional steering geometry. A disparity was noted, compared with the real utilisation, between the number of published works addressing differential drive and tricycle/Ackerman. Still, odometry continues evolving since UMBmark was proposed. © 2020 IEEE.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6