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Relative localization using path odometry information

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Abstract

All mobile bases suffer from localization errors. Previous approaches to accommodate for localization errors either use external sensors such as lasers or sonars, or use internal sensors like encoders. An encoder’s information is integrated to derive the robot’s position; this is called odometry. A combination of external and internal sensors will ultimately solve the localization error problem, but this paper focuses only on processing the odometry information. We solve the localization problem by forming a new odometry error model for the synchro-drive robot then use a novel procedure to accurately estimate the error parameters of the odometry error model. This new procedure drives the robot through a known path and then uses the shape of the resulting path to estimate the model parameters. Experimental results validate that the proposed method precisely estimates the error parameters and that the derived odometry error model of the synchro-drive robot is correct.

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Authors and Affiliations

  1. Intelligent Robot Research Division, Electronics and Telecommunications Research Institute, Korea

    Nakju Lett Doh

  2. Robotics Institute, Carnegie Mellon University, USA

    Howie Choset

  3. Department of Mechanical Engineering, Pohang University of Science and Technology, Korea

    Wan Kyun Chung

Authors
  1. Nakju Lett Doh
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  2. Howie Choset
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  3. Wan Kyun Chung
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Additional information

Nakju Lett Doh received his BS, his MS, and his Ph.D. degree in Mechanical Engineering from Pohang University of Science and Technology (POSTECH), KOREA, in 1998, 2000, and 2005, respectively. Since then, he is a senior researcher in Intellgient Robot Reserarch Division, Electronics and Telecommunications Research Institute (ETRI), KOREA. He received the glod prize in Intelligent Robot Contest hosted by Northern KyoungSang Province at 2000 and the gold prize in Humantech Thesis Competition hosted by Samsung Electronics at 2005. In 2003, he got the best student paper award in IEEE International Conference on Robotics and Automation held in Taiwan. His research interests are the localization and navigation of mobile robots and ubiquitous robotic space for intelligent robot navigation.

Howie Choset is an Associate Professor of Robotics at Carnegie Mellon University where he conducts research in motion planning and design of serpentine mechanisms, coverage path planning for de-mining and painting, mobile robot sensor based exploration of unknown spaces, and education with robotics. In 1997, the National Science Foundation awarded Choset its Career Award to develop motion planning strategies for arbitrarily shaped objects. In 1999, the Office of Naval Research started supporting Choset through its Young Investigator Program to develop strategies to search for land and sea mines. Recently, the MIT Technology Review elected Choset as one of its top 100 innovators in the world under 35. Choset directs the Undergraduate Robotics Minor at Carnegie Mellon and teaches an overview course on Robotics which uses series of custom developed Lego Labs to complement the course work. Professor Choset’s students have won best paper awards at the RIA in 1999 and ICRA in 2003. Finally, Choset is a member of an urban search and rescue response team using robots with the Center for Robot Assisted Search and Rescue. Now, he is active in extending the mechanism design and path planning work to medical mechatronics.

Wan Kyun Chung received his BS degree in Mechanical Design from Seoul National University in 1981, his MS degree in Mechanical Engineering from KAIST in 1983, and his Ph.D. in Production Engineering from KAIST in 1987. He is Professor in the school of Mechanical Engineering, POSTECH (he joined the faculty in 1987). In 1988, he was a visiting professor at the Robotics Institute of Carnegie-Mellon University. In 1995 he was a visiting scholar at the university of California, Berkeley. His research interests include the localization and navigation for mobile robots, underwater robots and development of robust controller for precision motion control. He is a director of National Research Laboratory for Intelligent Mobile Robot Navigation. He is serving as an Associate Editor for IEEE Tr. on Robotics, international editorial board for Advanced Robotics.

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Doh, N.L., Choset, H. & Chung, W.K. Relative localization using path odometry information. Auton Robot 21, 143–154 (2006). https://doi.org/10.1007/s10514-006-6474-8

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  • DOI: https://doi.org/10.1007/s10514-006-6474-8

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