Estimating the Odometry Error of a Mobile Robot during Navigation

  title={Estimating the Odometry Error of a Mobile Robot during Navigation},
  author={A. Martinelli and Roland Siegwart},
This paper addresses the problem of the odometry error estimation during the robot navigation. The robot is equipped with an external sensor (like laser range finder). Concerning the systematic error an augmented Kalman Filter is introduced. This filter estimates a vector state containing the robot configuration and the parameters characterizing the systematic component of the odometry error. It uses encoder readings as inputs and the readings from the external sensor as observations. The… CONTINUE READING
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