Preprint Article Version 1 This version is not peer-reviewed

On-Board Correction of Systematic Odometry Errors in Differential Robots

Version 1 : Received: 6 November 2018 / Approved: 8 November 2018 / Online: 8 November 2018 (03:50:39 CET)

How to cite: Maldonado-Bascón, S.; López Sastre, R.J.; Acevedo-Rodríguez, F.J.; Gil Jiménez, P. On-Board Correction of Systematic Odometry Errors in Differential Robots. Preprints 2018, 2018110184 (doi: 10.20944/preprints201811.0184.v1). Maldonado-Bascón, S.; López Sastre, R.J.; Acevedo-Rodríguez, F.J.; Gil Jiménez, P. On-Board Correction of Systematic Odometry Errors in Differential Robots. Preprints 2018, 2018110184 (doi: 10.20944/preprints201811.0184.v1).

Abstract

An easier method for the calibration of differential drive robots is presented. Most of the calibration is done on-board and it is not necessary to expend too much time taking note of the robot's position. The calibration method does not need a big free space to perform the tests. The bigger space is just in a straight line, which is easy to find. Results with the proposed method are compared with those from UMB as a reference, and they show very little deviation while the proposed calibration is much simpler.

Subject Areas

differential drive robot; calibration; systematic error

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