Dead reckoning navigation for an autonomous mobile robot using a differential encoder and a gyroscope

Abstract

Dead reckoning navigation algorithm using a differential encoder and a gyroscope is proposed for an autonomous mobile robot (AMR). The indirect Kalman filter which feeds back the error estimates to the main navigation algorithm mutually compensates the differential encoder errors and the gyroscope errors. The experimental results show that the proposed AMR navigation algorithm provides the reliable position and heading of the AMR without any external positioning system.