Abstract

The problem of estimating the Robot path when covering closed trajectories using only the wheels odometry information is met in indoor low-cost robotic applications. Random and systematic errors related to the measured angle accuracy, deviations from the desired path and wheel radius in robot turns, introduced significant errors in the process of estimating the actual path. In this paper the autocorrelation function is used for accurate estimation of the path periodicity and to reconstruct the robot path. Real-life experiments using a real robot showed minor differences between the estimated and the predicted path.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.