The accuracy on the parameter estimation of an odometry system of a mobile robot

In this paper the odometry error of a mobile robot with a synchronous drive system is modeled by introducing four parameters characterizing its systematic and non-systematic components (translational and rotational). A strategy in order to simultaneously estimate the model parameters is suggested. This strategy only requires to measure the change in the orientation and in the position between the initial and the final configuration of the robot related to suitable robot motions. In other words, it is unnecessary to know the actual path followed by the robot. The proposed strategy is illustrated by discussing the accuracy on the parameter estimation both in an indoor and outdoor environment.