Calibration Method of Mecanum Wheeled Mobile Robot Odometer

This paper described a novel method for intrinsic calibration to reduce positioning errors dynamically. The odometry errors generated by movement of mobile robot had bad effects on the function of robot, such as the path planning and SLAM. We constructed the kinematic and dynamic of mecanum wheels. For static calibration, corrective indices were designed to compensate for the longitudinal, lateral and angular errors of mobile robot. For dynamic calibration, the dynamic parameters calculated by the least squared method was used to estimate the maximum acceleration index. The effectiveness of this method was proved by experiments of square and curved trajectories on mobile robot. Comparing to others, the Results showed that our method could improve the position errors by at least 80%. This method could be considered as a higher priority calibration method for odometer errors of mecanum wheel mobile robot.