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论文类型：会议论文

发表时间：2019-01-01

收录刊物：CPCI-S

页面范围：139-144

关键字：three-wheeled omnidirectional mobile robots; odometry calibration; kinematic model; multiple linear regression

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.