Odometer Errors for a Robot Controlled by Consciousness

This paper analyzes typical odometer errors during calibration. As part of the testing, theoretical values are compared to real data. The measures were performed under different conditions in order to also evaluate differences in performance when using a workbench, smooth surfaces, accelerations and deceleration, steady state, soft and hard rotations. Theoretical and real displacements feed the consciousness system in order to analyze their impact on the decision strategy, and therefore analyzes the deviations and differences in the control strategy. Results show that deviations can be substantial if there is no other mechanism to avoid them. As a consequence the system ends up taking riskier options than those taken when ultrasound information exists.