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This paper focuses on issues of odometry for the special case of synchronous drive wheeled mobile robots. In particular, the uncertainty in odometry is modeled by a four parameter statistical model already introduced in previous works together with a strategy to estimate the four parameters from actual data obtained from a given mobile robot. To obtain the data, the robot traverses a path. The error realized along that path is then used to estimate the model parameters. The accuracy on the parameter estimation through this strategy is here discussed by considering paths different for length and shape. Show more
Book titleProceedings 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages / Article No.
Organisational unit03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
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Is part of: http://hdl.handle.net/20.500.11850/81642
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