Reduction of Odometry Error in a Two Wheeled Differential Drive Robot

Pose estimation is one of the vital issues in mobile robot navigation. Odometry data can be fused with absolute position measurements to provide better and more reliable pose estimation. This paper dealswith the determination of better relative localization of a two wheeled differential drive robot by meansof odometry by considering the influence of parameters, namely weight, velocity, wheel perimeter and tyre width. Experiments have been conducted based on central composite rotatable design matrix. A mathematical model has been developed for the robot with the help of MINITAB software. Anoptimum range and condition for minimum odometry error were obtained by using Response Surface Methodology (RSM) and Excel (XL) Solver respectively

کلیدواژه ها:

Mobile Robot ، Odometry ، Relative Localization ، Response Surface Methodology ، Excel Solver