ERROR ANALYSIS OF “REAR” AND “FRONT” WHEEL DUAL ODOMETER SYSTEM OF MOBILE ROBOTS WITH FOUR TIRES

Odometers are fixed on left and right tires of the rear and front wheels of mobile robots with four tires, and the odometers record the angles and rotational directions of these tires. If the radius of the tires is fixed, we can calculate the moving distances of the tires. According to the readings of the odometers fixed on the left and right tires, we can calculate the location and orientation of the vehicle. In this paper, a comparison between dual odometer system of rear and front tires is made. It is concluded that, for equal errors, the dual rear wheel odometer system is superior to the front wheel steer angle and dual odometers. This conclusion is of benefit to practical work.