Systematic Odometry Error Evaluation and Correction in a Human-Sized Three-Wheeled Omnidirectional Mobile Robot Using Flower-Shaped Calibration Trajectories

Odometry is a simple and practical method that provides periodic real-time estimation of the relative displacement mobile robot based on measurement angular rotational speed its wheels. The main disadvantage odometry unbounded accumulation errors, factor reduces accuracy absolute position orientation robot. This paper proposes general procedure to evaluate correct systematic errors human-sized three-wheeled omnidirectional designed as versatile personal assistant tool. correction definition 36 individual calibration trajectories which together depict flower-shaped figure, ground truth trajectory each trajectory, application several strategies iteratively adjust effective value kinematic parameters in order match estimated final from these two trajectories. results have shown an average improvement 82.14% Therefore, can be used for during manufacturing robots.