【摘要】 在UMBmark校核算法的基础上定义了测程法系统误差模型 ,提出了详细的算法来计算差分移动机器人的系统参数及对应的纠正系数 .试验结果表明 :本文提出的方法比UMBmark校核方法更能提高测程法的定位精度 .更多还原

【Abstract】 Based on UMBmark calibration, a model for systematic errors of odometry is defined, and the detailed algorithm to calculate the systematic parameters of a differential-drive mobile robot and the corresponding correction factors are presented. Experimental results show that compared with UMBmark calibration a substantial improvement in odometry accuracy is achieved with the presented method.更多还原