Dead reckoning position sensing for a mobile robot

Measurement techniques for dead reckoning position sensing -- Objectives and organization of this study -- Model development -- Geometrical interpretation -- Development of equations -- Solution of equations -- Completion of the free wheel model -- Preliminary analysis and discussion -- Factors affecting the accurancy of position sensing -- The spiral test -- Computer simulations -- The experimental spiral -- Calibration results -- Postprocessing results and analysis -- A simulation analysis on error reduction -- A project assessment according to objectives.

Mots clés

Dead reckoning (Navigation); Automated guided vehicle systems; Robots, Industrial; Estime (Navigation); Véhicules autoguidés; Robots industriels