By Paul Bouchier
This procedure summarizes the robot dead-reckoning calibration
procedure found in:
UMBMark – A Method for Measuring, Comparing, and Correcting Dead-reckoning Errors in Mobile Robots
by Borenstein et. al.
The paper asserts that most dead-reckoning errors come from 2 sources:
- Error in assumed wheelbase, which results in turning a different amount than dead-reckoning calculations predict
- Difference in wheel diameter. (Ron showed in simulation that a 0.1% error in wheel diameter produces significant deviation from driving a straight line.
The two error sources interact. The figure below shows how a robot can be incorrectly tuned so that these two errors cancel each other out, returning the robot to its starting position (when run in the clockwise direction only).
Figure 1: Two errors cancelling – copyright University of Michigan
The figure below shows how each error in the absence of the other can return the robot to the same ending location