Abstract

To compensate the odometric errors of mobile robots in motion control tasks in known environments, the measured errors in predefined experiments can be used as feed forward of the control loop. In an experimental study on a mecanum-wheeled mobile robot, the odometric errors have been measured and are presented in this paper. The experiments are designed to represent the joint effects of systematic (robot specific) as well as non-systematic (environment specific) errors in the odometry of the robot. Different surfaces are chosen to perform the experiments and the robot is driven with a range of velocities of typical indoor mobile robotic application. The odometric errors of the mobile robot are measured via iGPS system with an accuracy of 200 \(\upmu \)m. The results of the experiments are statistically analyzed and the mean values of the translational and rotational errors are reported within a confidence interval of \(90\%\). The presented results may provide the readers with an overview of the proportion of the odometric errors in the translational workspace of holonomic mobile robots. A feed forward control scheme is suggested to use the gathered data to compensate the odometry errors .

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