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Accurate Calibration of Car-like Mobile Robots by using Experimental Orientation Errors 원문보기

  • 저자

    정다운

  • 학위수여기관

    고려대학교 대학원

  • 학위구분

    국내석사

  • 학과

    기계공학과

  • 지도교수

    정우진

  • 발행년도

    2014

  • 총페이지

    49

  • 키워드

    Mobile Robots Localization Odometry Calibration;

  • 언어

    eng

  • 원문 URL

    http://www.riss.kr/link?id=T13541307&outLink=K  

  • 초록

    Recently, unmanned autonomous driving vehicles have been a major issue in autonomous mobile robots. One of the required technologies for autonomous navigation is localization. Localization is important because accurate pose estimation is essential for path planning and motion control. In order to improve localization accuracy, a relative positioning method based on accurate odometry is necessary. Odometry calibration method for two wheel differential drive robots is researched for a long time. However, odometry calibration method for car-like mobile robot is hard to find. In this thesis, accurate calibration method for car-like mobile robots is proposed. In order to improve the calibration accuracy, experimental orientation errors are used. By using experimental orientation errors, approximation errors can be eliminated, and the calibration accuracy is improved. Numerical simulation and experimental results clearly demonstrate that the accurate odometry calibration is possible by using proposed calibration method.


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