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UMBmark A Benchmark Test for Measuring Odometry Errors in.pdf

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Presented at the 1995 SPIE Conference on Mobile Robots, Philadelphia, October 22-26, 1995 UMBmark: A Benchmark Test for Measuring Odometry Errors in Mobile Robots by Johann Borenstein and Liqiang Feng The University of Michigan Advanced Technologies Lab 1101 Beal Ave. Ann Arbor, MI 48109-2110 Corresponding author: Johann Borenstein Ph.: (313) 763-1560 Fax: (313) 944-1113 Email: johannb@umich.edu ABSTRACT This paper introduces a method for measuring odometry errors in mobile robots and for expressing these errors quantitatively. When measuring odometry errors, one must distinguish between (1) systematic errors, which are caused by kinematic imperfections of the mobile robot (for example, unequal wheel-diameters), and (2) non-systematic errors, which may be caused by wheel-slippage or irregularities of the floor. Systematic errors are a property of the robot itself, and they stay almost constant over prolonged periods of time, while non-systematic errors are a function of the properties of the floor. Our method, called the University of Michigan Benchmark test (UMBmark), is especially designed to uncover certain systematic errors that are likely to compensate for each other (and thus, remain undetected) in less rigorous tests. This paper explains the rationale for the UMBmark procedure and explains the procedure in detail. Experimental