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

Youssef Alboraei; Chayada Thidrasamee; Paul O'Dowd

doi:10.1007/978-3-031-72062-8_12

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

Youssef Alboraei^*
, Chayada Thidrasamee
, Paul O'Dowd

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

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Abstract

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.

Original language	English
Title of host publication	Towards Autonomous Robotic Systems (TAROS 2024)
Editors	M. Nazmul Huda, Mingfeng Wang, Tatiana Kalganova
Publisher	Springer, Cham
Pages	130-142
Number of pages	12
ISBN (Electronic)	9783031720628
ISBN (Print)	9783031720611
DOIs	https://doi.org/10.1007/978-3-031-72062-8_12
Publication status	Published - 30 Dec 2024
Event	Towards Autonomous Robotic Systems (TAROS) 2024 - Brunel University, London, United Kingdom Duration: 21 Aug 2024 → 23 Aug 2024 Conference number: 25th

Publication series

Name	Lecture Notes in Computer Science
Publisher	Springer Cham
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	Towards Autonomous Robotic Systems (TAROS) 2024
Country/Territory	United Kingdom
City	London
Period	21/08/24 → 23/08/24

Bibliographical note

Publisher Copyright:
© 2025 The Author(s), under exclusive license to Springer Nature Switzerland AG.

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10.1007/978-3-031-72062-8_12

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Accepted author manuscript, 1.39 MBLicence: CC BY

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title = "Ground-Truth Based Calibration for a Two Wheel Differential Drive Robot",

abstract = "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.",

author = "Youssef Alboraei and Chayada Thidrasamee and Paul O'Dowd",

note = "Publisher Copyright: {\textcopyright} 2025 The Author(s), under exclusive license to Springer Nature Switzerland AG.; Towards Autonomous Robotic Systems (TAROS) 2024 ; Conference date: 21-08-2024 Through 23-08-2024",

year = "2024",

month = dec,

day = "30",

doi = "10.1007/978-3-031-72062-8\_12",

language = "English",

isbn = "9783031720611",

series = "Lecture Notes in Computer Science",

publisher = "Springer, Cham",

pages = "130--142",

editor = "Huda, \{M. Nazmul\} and Mingfeng Wang and Tatiana Kalganova",

booktitle = "Towards Autonomous Robotic Systems (TAROS 2024)",

address = "Switzerland",

}

Alboraei, Y , Thidrasamee, C & O'Dowd, P 2024, Ground-Truth Based Calibration for a Two Wheel Differential Drive Robot. in MN Huda, M Wang & T Kalganova (eds), Towards Autonomous Robotic Systems (TAROS 2024). Lecture Notes in Computer Science, Springer, Cham, pp. 130-142, Towards Autonomous Robotic Systems (TAROS) 2024, London, United Kingdom, 21/08/24. https://doi.org/10.1007/978-3-031-72062-8_12

Ground-Truth Based Calibration for a Two Wheel Differential Drive Robot. / Alboraei, Youssef ; Thidrasamee, Chayada ; O'Dowd, Paul.
Towards Autonomous Robotic Systems (TAROS 2024). ed. / M. Nazmul Huda; Mingfeng Wang; Tatiana Kalganova. Springer, Cham, 2024. p. 130-142 (Lecture Notes in Computer Science).

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

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T1 - Ground-Truth Based Calibration for a Two Wheel Differential Drive Robot

AU - Alboraei, Youssef

AU - Thidrasamee, Chayada

AU - O'Dowd, Paul

N1 - Conference code: 25th

PY - 2024/12/30

Y1 - 2024/12/30

N2 - 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.

AB - 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.

UR - https://taros-conference.org/2024-2/

U2 - 10.1007/978-3-031-72062-8_12

DO - 10.1007/978-3-031-72062-8_12

M3 - Conference Contribution (Conference Proceeding)

SN - 9783031720611

T3 - Lecture Notes in Computer Science

SP - 130

EP - 142

BT - Towards Autonomous Robotic Systems (TAROS 2024)

A2 - Huda, M. Nazmul

A2 - Wang, Mingfeng

A2 - Kalganova, Tatiana

PB - Springer, Cham

T2 - Towards Autonomous Robotic Systems (TAROS) 2024

Y2 - 21 August 2024 through 23 August 2024

ER -

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

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