Abstract:

In order to improve the localization accuracy and to reduce the systematic errors,a calibration method ofsystematic odometry errors is proposed for the mobile robot with a low accuracy of motion control model,and anexperiment is designed to correct the system parameters,namely,the left and right wheel diameters and the wheel-base.This calibration method takes into account the position and orientation errors caused by three main systematicerror sources,namely,the inequality between left and right wheel diameters,the uncertainty of wheelbases and thedifference between the average actual wheel diameter and the nominal wheel diameter.This calibration method alsoconsiders the influences of the systematic errors on the linear motion and the rotation motion of the mobile robot,and uses the experimental data of linear motion and rotation motion to correct the systematic parameters.Experi-mental results demonstrate that the corrected diameters are closer to their actual values with smaller systematicerrors and higher localization accuracy,and the experiment is simple and easy to handle.

Key words: mobile robot, odometry, systematic error, localization