A self tuning navigation algorithm

The author has to developed a system for improving the dead reckoning navigation accuracy for a mobile robot. He reports on the development of a parameter estimation scheme for correcting modeling errors due to wear, misalignment, or calibration degradation. A least-squares algorithm is used to give a suboptimal but robust estimate of the bias parameters. Simulations show marked improvement of the navigation accuracy of the robot. A test bed is being constructed at West Virginia University to verify and refine the technique