Calibration of Mobile Robot with Single Wheel Powered Caster
Keywords:
Calibration, Mobile robot, Powered casterAbstract
The accurate determination of kinematic parameters is crucial for mobile robots because an imprecise kinematic model can lead to significant uncertainties in their odometry and control systems. This is particularly critical for caster-type mobile robots, which have intricate kinematic models. Despite the importance of precise kinematic parameters for caster-type mobile robots, there has been limited research focused on calibrating their kinematic models. A previous study introduced a calibration method specifically designed for double-wheeled caster-type mobile robots, necessitating the direct measurement of the robot’s center point and the distance between the casters. In contrast, this paper presents a novel calibration method based on a geometric approach. This method can be applied to single-wheeled castertype mobile robots with two or more casters, eliminating the need for direct measurements. Furthermore, it effectively derives all the necessary kinematic parameters required for control and odometry. The proposed calibration method’s validity and performance are confirmed through simulation and hardware experiments conducted in this study.
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