Reduction of Odometry Error in a two Wheeled Differential Drive Robot (TECHNICAL NOTE)

Abstract

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 deals with the determination of better relative localization of a two wheeled differential drive robot by means of 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 using Response Surface Methodology (RSM) with the help of MINITAB software. An optimum condition for minimum odometry error was obtained by using Excel (XL) Solver.