TY - JOUR ID - 72262 TI - Reduction of Odometry Error in a two Wheeled Differential Drive Robot (TECHNICAL NOTE) JO - International Journal of Engineering JA - IJE LA - en SN - 1025-2495 AU - Saravanan, R. AU - Ravikumar, T. AD - Department of Mechanical Engineering, JCT College of Engineering and Technology AD - Department of Mechanical Engineering, United Institute of Technology Y1 - 2014 PY - 2014 VL - 27 IS - 3 SP - 359 EP - 366 KW - Mobile Robot KW - Odometry KW - Relative Localization KW - Response Surface Methodology KW - Excel Solver DO - N2 - Pose estimation is one of the vital issues in mobile robot navigation. Odometry data can be fused with absolute position measurements to provide better and more reliable pose estimation. This paper deals with the determination of better relative localization of a two wheeled differential drive robot by means of odometry by considering the influence of parameters namely weight, velocity, wheel perimeter and tyre width. Experiments have been conducted based on central composite rotatable design matrix. A mathematical model has been developed for the robot using Response Surface Methodology (RSM) with the help of MINITAB software. An optimum condition for minimum odometry error was obtained by using Excel (XL) Solver. UR - https://www.ije.ir/article_72262.html L1 - https://www.ije.ir/article_72262_3cde50287bdb4b819245100bfa843f17.pdf ER -