Odometry using wheel encoder is a common relative positioning technique for wheeled mobile robots. The major drawback of odometry is that the kinematic modeling errors are accumulated when the travel distance increases. Therefore, accurate calibration of odometry is required. In several related works, various schemes for odometry calibration are proposed. However, design guidelines of test tracks for odometry calibration were not considered. More accurate odometry calibration results can be achieved by using appropriate test track because the position and orientation errors after the test are affected by the test track. In this paper, we propose the design guidelines of test tracks for odometry calibration schemes using experimental heading errors. Numerical simulations and experiments clearly demonstrate that the proposed design guidelines result in more accurate calibration results.

 Abstract  1. 서 론  2. 오도메트리 오차 모델   2.1 시스템적 오차   2.2 비시스템적 오차  3. 주행시험경로 설계   3.1 주행시험경로 설계시 고려사항   3.2 주행시험경로 설계기법  4. 시뮬레이션 결과  5. 실험 결과  6. 결 론  References

• 정창배(육군본부) | Jung, Changbae
• 문창배( 고려대학교 기계공학과 연구교수) | 문창배
• 정다운( 고려대학교 기계공학과 석사과정) | 정다운
• 정우진( 고려대학교 기계공학부 교수) | 정우진