Simultaneous Calibration of Odometry and external Sensors of Omnidirectional Automated Guided Vehicles (AGVs)

摘要

This paper discusses a method of simultaneous self calibrating sensors and odometry of omnidirectional Automated Guided Vehicles (AGVs). By using the measurements of safety Laser Range Finders (LRFs) and a gyroscope the exact parameters of the odometry are calculated and experimentally verified, as well as the sensors coordinates are determined with respect to the vehicle's coordinate frame.