ODOMETRY ERROR CORRECTION METHOD OF A 2-WHEEL MOBILE ROBOT, CAPABLE OF ACCURATELY REVISING THE ODOMETRY ERROR BY THE WHEEL DIAMETER ERROR AND WHEEL INTERVAL ERROR SIMULTANEOUSLY OCCURRED

摘要

PURPOSE: An odometry error correction method of a 2-wheel mobile robot is provided to accurately revise error because the odometry error caused by wheel diameter error and wheel interval error is reflected to the odometry error correction.;CONSTITUTION: An odometry error correction method of a 2-wheel mobile robot is as follows. When a robot drives along a test track, systematic error correction model modeled for a wheel diameter error and a wheelbase error is set(S60,S61). A 2-wheel mobile robot drives along the test track(S62). The systematic error is calculated based on the location error between a test final position of the test track and an odometry final position of the 2-wheel mobile robot's odometry(S66). The calculated systematic error is applied to the systematic error correction model so that the systematic error of the 2-wheel mobile robot is revised(S67).;COPYRIGHT KIPO 2012