Experimental investigation for Optimum relative positioning of a Two wheeled differential drive robot

Abstract

Industrial robots have been widely applied in many fields to newlineincrease productivity and flexibility to work on repetitive physically newlinetough and dangerous tasks Because of these reasons the need on robots in newlineservice sectors such as hospital household underwater applications are newlineincreasing rapidly Mobile robots became more and more important for newlinedomestic applications as well as for industry The ranges of potential newlineapplication for mobile robots are enormous These applications include newlineagriculture routine material transport in factories warehouses office newlinebuildings hospitals indoor and outdoor security patrols inventory newlineverification hazardous material handling hazardous site cleanup chemical newlineindustry underwater and numerous military functions newlineOne of the important issues for autonomous navigation of mobile newlinerobots in an environment is the localization Mobile robots have to be able to newlinelocate themselves in their own environment in order to accomplish their newlinemission Hence the position of a mobile robot needs to be estimated newlineaccurately Particularly for a typical two wheeled robot odometry remains to newlinebe one of the most important means of achieving this task In general the newlinelocalization of a robot is based on the measurement of the travelled distance newlinerecorded by the wheelincremental encoders called odometry newline newline