Calibrating a 4-wheel mobile robot

P. McKerrow, University of Wollongong
D. Ratner, University of Wollongong

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This article was published as: McKerrow, P, Calibrating a 4-wheel mobile robot, Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 30 September-5 October 2002, 1, 859-864. Copyright IEEE 2002.

Abstract

When a mobile robot is constructed the odometry must be calibrated. Calibrating a 4-wheel robot requires the accurate measurement of steering angle as well as translation and rotation. Some measurements are made with a tape measure and some with ultrasonic sensors. The measurements are used to determine the parameters of the odometry calibration matrix and the steering kinematic model. A procedure for calibrating a 4-wheel robot is discussed.