Simultaneous localization and odometry self calibration for mobile robot

This paper presents both the theory and the experimental results of a method allowing simultaneous robot localization and odometry error estimation (both systematic and non-systematic) during the navigation. The estimation of the systematic components is carried out through an augmented Kalman filter, which estimates a state containing the robot configuration and the parameters characterizing the systematic component of the odometry error. It uses encoder readings as inputs and the readings from a laser range finder as observations. In this first filter, the non-systematic error is defined as constant and it is overestimated. Then, the estimation of the real non-systematic component is carried out through another Kalman filter, where the observations are obtained by two subsequent robot configurations provided by the previous augmented Kalman filter. There, the systematic parameters in the model are regularly updated with the values estimated by the first filter. The approach is theoretically developed for both the synchronous and the differential drive. A first validation is performed through very accurate simulations where both the drive systems are considered. Then, a series of experiments are carried out in an indoor A. Martinelli ( ) Inria Rhône Alpes, St Ismier Cedex, France e-mail: [email protected] N. Tomatis BlueBotics SA, Lausanne, Switzerland e-mail: [email protected] A. Martinelli · R. Siegwart Autonomous System Laboratory, ETHZ, Zurich, Switzerland R. Siegwart e-mail: [email protected] environment by using a mobile platform with a differential drive.