发明名称 |
CALIBRATING METHOD OF ODOMETRY ERROR OF 2-WHEEL MOBILE ROBOT |
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).
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申请公布号 |
KR20120025839(A) |
申请公布日期 |
2012.03.16 |
申请号 |
KR20100087985 |
申请日期 |
2010.09.08 |
申请人 |
KOREA UNIVERSITY RESEARCH AND BUSINESS FOUNDATION |
发明人 |
CHUNG, WOO JIN;JUNG, CHANG BAE;LEE, KOOK TAE |
分类号 |
B25J9/16;B25J5/00;G05D1/08 |
主分类号 |
B25J9/16 |
代理机构 |
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