METHOD FOR CALIBRATING ODOMETRY ERROR OF CAR-TYPE MOBILE ROBOT USING HEADING ANGLE ERROR

摘要

The present invention relates to a method for calibrating an odometry error of a car-type mobile robot using a heading angle error, the method comprising the steps of: (a) establishing a systematic error calibration model which is modeled for a systematic error of a car-type mobile robot according to traveling on a test track having a curved section and a straight section; (b) traveling along the test track by the car-type mobile robot to be calibrated; (c) calculating a kinematic error parameter on the basis of an actual heading angle error of the car-type mobile robot to be calibrated at the end point on the test track; and (d) calibrating a systematic error of the car-type mobile robot to be calibrated by applying the calculated kinematic error parameter to the systematic error calibration model. Accordingly, the present invention can achieve more accurate odometry calibration by eliminating the use of an approximation for calibrating an odometry error of a car-type mobile robot.