Calibration for Odometry of Omnidirectional Mobile Robots Based on Kinematic Correction

摘要

In view of kinematic parameters errors, this paper proposes an odometry calibration method for three-wheeled omnidirectional mobile robots. Firstly, the kinematic model of omnidirectional mobile robots is built, and the kinematic parameters are in line with the multivariate linear equation. Then, the mathematical model for multiple linear regression based on least squares is used to estimate the kinematic parameters. Finally, the proposed method is applied to the omnidirectional robot developed by our laboratory. And the position, orientation and velocity of the robot are obtained through experiments. The results show that the odometry accuracy of the mobile robot after calibration is improved, and the effectiveness of the method is verified.