Investigation on the Effect of Different Parameters in Wheeled Mobile Robot Error (TECHNICAL NOTE)

摘要

This article has focused on evaluation and identification of effective parameters in positioning performance with an odometry approach of an omni-directional mobile robot. Although there has been research in this field, but in this paper, a new approach has been proposed for mobile robot in positioning performance. With respect to experimental investigations of different parameters in omni-directional mobile robots error, the effects of velocity, length of path, type of wheels and other parameters are analyzed with Gaussian error function estimation. A new approach for determining better characteristics in omni-directional mobile robots error is presented. With respect to arrangement of effective parameters by using statistical process control we have reached a model equation for assumed process (odometry errors). The results show statistical process control as a new trend for reduction of mobile robot error.