Odometry Error Model for a Synchronous Drive Robot

Abstract

Wheel odometry is a common method for mobile robot relative localisation. However, this method is known to suffer from systematic errors. In this paper a comprehensive systematic odometry error model for a synchronous drive robot is proposed. The model addresses the systematic error for both rotational and translational motions. Results on real data show a real potential to produce a significant reduction in the odometry error for translational motions.