| 摘要 |
<p>The present invention relates to a method for determining a test track for odometry error calibration of a mobile robot, which includes the steps of: (a) registering specification of the mobile robot, and a system error parameter and a non-system error parameter which are measured previously as to the mobile robot; (b) extracting a pose error, by performing first traveling simulation at a reserve test track having a previously established track shape and a previously established track size under the registration state of the step (a); (c) applying odometry calibration based on the pose error extracted in the step (b) to the traveling simulation; (d) extracting the pose error, by performing second traveling simulation applied with the odometry calibration at the reserve test track; (e) calculating an average value of the pose error extracted in the step (d) by performing the step (b) - the step (d) repetitively; (f) calculating average values of the pose error as to each track size by performing the step (b) - the step (e) as to a number of different track sizes; and (g) determining an optimum track size, on the basis of the average values of the pose error. Therefore, in performing odometry error calibration of the mobile robot, the method of the present invention can provide accurate calibration performance by the minimum track size.</p> |
