Sensor roll angle error for a mobile robot using a navigation line

An investigation of the effects of various error components in a mobile robot system, which uses a navigation line, was previously reported by the author in 1985. An analysis of the effects of these error components on the navigation line-width determination and obstacle-range determination is presented that provided equations that are used to predict the error resulting from changes in various system parameters. In particular, the change in the rotation angle of the robot sensor about its optical axis, called the roll angle, is examined. Numerical examples showing the characteristics of the derived error equations are also given.<>