International Journal of Advanced Robotic Systems (Nov 2011)
Calibration of Kinematic Parameters for Two Wheel Differential Mobile Robots by Using Experimental Heading Errors
Abstract
Odometry using incremental wheel encoder sensors provides the relative position of mobile robots. This relative position is fundamental information for pose estimation by various sensors for EKF Localization, Monte Carlo Localization etc. Odometry is also used as unique information for localization of environmental conditions when absolute measurement systems are not available. However, odometry suffers from the accumulation of kinematic modeling errors of the wheel as the robot