지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
이용수
초록· 키워드
오류제보하기
Odometry using wheel encoders is one of the fundamental techniques for the pose estimation of wheeled mobile robots. However, odometry has a drawback that the position errors are accumulated when the travel distance increases. Therefore, position errors are required to be reduced using appropriate calibration schemes. The UMBmark method is the one of the widely used calibration schemes for two wheel differential drive robots. In UMBmark method, it is assumed that odometry error sources are independent. However, there is coupled effect of odometry error sources. In this paper, a new calibration scheme by considering the coupled effect of error sources is proposed. We also propose the test track design for the proposed calibration scheme. The numerical simulation and experimental results show that the odometry accuracy can be improved by the proposed calibration scheme.
목차
Abstract
1. 서론
2. 기구학적 파라미터 정밀보정기법
3. 시뮬레이션 결과
4. 실험 결과
5. 결론
References
참고문헌 (15)
참고문헌 신청
1. [단행본] - J. Borenstein / 1996 / Where am I? Sensors and Methods for Mobile Robot Positioning
2. [학술지(정기간행물)] - J. Borenstein / 1996 / Measurement and correction of systematic odometry errors in mobile robots / IEEE Transactions on Robotics and Automation 12 : 869 ~ 880
3. [단행본] - R. Siegwart / 2011 / Introduction to autonomous mobile robots, 2nd ed. / The MIT Press
4. [단행본] - S. Thrun / 2005 / Probabilistic robotics / The MIT press
5. [학술대회논문] - K. Komoriya / 1994 / Position estimation of a mobile robot using optical fiber gyroscope (OFG) / IEEE/RSJ International Conference on Intelligent Robots and Systems : 143 ~ 149
2. [학술지(정기간행물)] - J. Borenstein / 1996 / Measurement and correction of systematic odometry errors in mobile robots / IEEE Transactions on Robotics and Automation 12 : 869 ~ 880
3. [단행본] - R. Siegwart / 2011 / Introduction to autonomous mobile robots, 2nd ed. / The MIT Press
4. [단행본] - S. Thrun / 2005 / Probabilistic robotics / The MIT press
5. [학술대회논문] - K. Komoriya / 1994 / Position estimation of a mobile robot using optical fiber gyroscope (OFG) / IEEE/RSJ International Conference on Intelligent Robots and Systems : 143 ~ 149
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UCI(KEPA) : I410-ECN-0101-2020-559-001258395