An improved indoor mobile robot positioning method based on Dead Reckoning

Positioning is one of the key technologies of robot application, and it is a primary problem for robots to achieve autonomy. GPS has become a popular positioning system for outdoor positioning and navigation of mobile robots with its excellent performance, but there is no universal indoor positioning system. Dead reckoning is a widely used indoor positioning method, but when the wheel and the ground slip, there is a large positioning error. This paper improves the way the encoder is installed, and it is installed on the wheel that does not provide the driving force. According to the improved installation method, the mathematical model of the positioning system is established through kinematic analysis, analyze the source of the error and design a calibration method to improve positioning accuracy. Experiments have shown that compared to the traditional encoder installation method, the improved installation method can significantly reduce the random error caused by wheel slip, and can reduce the average error by three times and the variance of twice.