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This study builds upon existing odometry calibration formulation for two-wheeled differential drive robots. The proposed approach increases the potential for autonomous calibration by utilising closed-loop control where the mobile robot is programmed to follow a line marked out on a surface. The proposed approach negates the need for external measurements made by a human operator within the calibration process. This study makes a comparative analysis and evaluation between the presented approach against an established prior approach by implementing both on a real (not simulated) mobile robot and capturing performance data.

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Ground-Truth Based Calibration for a Two Wheel Differential Drive Robot

  • 会议论文

  • 发表日期：

    2025年

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  • Youssef G. Alboraei,
  • Chayada Thidrasamee,
  • Paul O’Dowd

摘要

This study builds upon existing odometry calibration formulation for two-wheeled differential drive robots. The proposed approach increases the potential for autonomous calibration by utilising closed-loop control where the mobile robot is programmed to follow a line marked out on a surface. The proposed approach negates the need for external measurements made by a human operator within the calibration process. This study makes a comparative analysis and evaluation between the presented approach against an established prior approach by implementing both on a real (not simulated) mobile robot and capturing performance data.