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Laser interferometry measurements based calibration and error propagation identification for pose estimation in mobile robots

Published online by Cambridge University Press:  06 August 2013

Paulo A. Jiménez  and
Bijan Shirinzadeh
Paulo A. Jiménez*
Affiliation:
Robotics and Mechatronics Research Laboratory (RMRL), Department of Mechanical and Aerospace Engineering, Monash University, Clayton, Victoria, Australia
Bijan Shirinzadeh
Affiliation:
Robotics and Mechatronics Research Laboratory (RMRL), Department of Mechanical and Aerospace Engineering, Monash University, Clayton, Victoria, Australia
*
*Corresponding author. E-mail: [email protected]
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Summary

A widely used method for pose estimation in mobile robots is odometry. Odometry allows the robot in real time to reconstruct its position and orientation from the wheels' encoder measurements. Given to its unbounded nature, odometry calculation accumulates errors with quadratic increase of error variance with traversed distance. This paper develops a novel method for odometry calibration and error propagation identification for mobile robots. The proposed method uses a laser-based interferometer to measure distance precisely. Two variants of the proposed calibration method are examined: the two-parameter model and the three-parameter model. Experimental results obtained using a Khepera 3 mobile robot showed that both methods significantly increase accuracy of the pose estimation, validating the effectiveness of the proposed calibration method.

Keywords

Mobile robotsNavigationRobot localisationPose estimation and registrationMechatronic systems
Type
Articles
Information
Robotica , Volume 32 , Issue 1 , January 2014 , pp. 165 - 174
Copyright
Copyright © Cambridge University Press 2013 

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