METHOD FOR CALIBRATING ODOMETRY ERROR OF CAR-LIKE MOBILE ROBOT USING ORIENTATION ERROR

摘要

The present invention relates to a method to calibrate an odometry error of a vehicle type mobile robot using a direction angle error. The method to calibrate the odometry error of a vehicle type mobile robot using the direction angle error comprises: (a) a step of setting a systemic error calibration model in which a systemic error of a vehicle type mobile robot is modeled in accordance with driving in a test track with a curve course and a linear course; (b) a step of driving the vehicle type mobile robot to be calibrated along the test track; (c) a step of calculating a kinematic error parameter based on the direction angle error on an actual finishing point on the test track of the vehicle type mobile robot to be calibrated; and (d) a step of calibrating the systemic error of the vehicle type mobile robot as the calculated kinematic error parameter is applied to the systemic error calibration model. Accordingly, the method to calibrate the odometry error of a vehicle type mobile robot is able to accurately calibrate odometry by excluding usage of an approximate expression to calibrate the odometry error of the vehicle type mobile robot.