Calibration of Systematic Errors for Wheeled Mobile Robots

Odometry using encoder provides fundamental pose estimation for wheeled mobile robots. The error of odometry accumulates as the travel distance of robot increases. Calibrating the system parameters can reduce the error. The UMBmark method is widely used odometry calibration methods for wheeled mobile roborts. In accordance with the shortcomings of UMBmark method, a systematic error calibration method is proposed in this paper. The method considers the coupled effect of three main systematic errors. The experimental results show that the positioning accuracy of mobile robot can be improved by the proposed method.