Systematic Odometry Error Evaluation and Correction in a Human-Sized Three-Wheeled Omnidirectional Mobile Robot Using Flower-Shaped Calibration Trajectories
Odometry is a simple and practical method that provides a periodic real-time estimation of the relative displacement of a mobile robot based on the measurement of the angular rotational speed of its wheels. The main disadvantage of odometry is its unbounded accumulation of errors, a factor that redu...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-03-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/12/5/2606 |