Optimized parametric calibration of autonomous vehicles

Philip R. Kedrowski; Charles F. Reinholtz; David C. Conner

doi:10.1117/12.457442

18 February 2002 Optimized parametric calibration of autonomous vehicles

Philip R. Kedrowski, Charles F. Reinholtz, David C. Conner

Proceedings Volume 4573, Mobile Robots XVI; (2002) https://doi.org/10.1117/12.457442
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

Odometry, also referred to as dead reckoning, is one of the least expensive and most widely used methods for mobile robot localization. However, mobile robots implementing dead reckoning are plagued with inaccuracy caused by systematic and non-systematic errors. In many cases, the most dominant source of inaccuracy is systematic errors. Systematic errors are caused by differences between the nominal and the actual dimensions of vehicle parameters (such as wheel radius and wheelbase measurements). Because systematic errors are inherent to the vehicle, the dead reckoning inaccuracy grows unbounded. Fortunately, it is possible to largely eliminate systematic errors by calibrating the parameters such that the differences between the nominal dimensions and the actual dimensions are minimized. This work presents a method for calibration of mobile robot parameters using an optimization engine. A cost function is developed based on the UMBmark (University of Michigan Benchmark) test pattern. This method is presented as a simple time efficient calibration tool for use during startup procedures of a differentially driven mobile robot. Comparisons are made between this method and an analytical calibration method developed at the University of Michigan. Results show that this tool consistently gives greater than 50% improvement in overall dead reckoning accuracy on an outdoor mobile robot, with respect to itself prior to calibration.

Citation Download Citation

Philip R. Kedrowski, Charles F. Reinholtz, and David C. Conner "Optimized parametric calibration of autonomous vehicles", Proc. SPIE 4573, Mobile Robots XVI, (18 February 2002); https://doi.org/10.1117/12.457442

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available