CALIBRATION METHOD FOR MOVING BODY

A calibration method for a moving body, which includes a pair of left and right omnidirectional wheels, includes: a first step of creating a rotational speed command value for four electric motors such that the moving body performs a linear translational movement or an ultra-pivotal turn; a second step of driving each motor based on the command value to move the moving body; a third step of obtaining a total number of rotations of each motor until the movement of the moving body is completed; a fourth step of measuring an yaw angle change amount of the moving body as it moves; a fifth step of repeating the first to fourth steps at least three times to obtain three or more data sets including the total number of rotations of each motor and the yaw angle change amount; and a sixth step of calculating each correction value based on the data sets.