抄録
This study addresses the localization problem of the wheel type mobile robot by using the odometry method. The tire slip is most important problem of the mobile robot localization by using the odometry method. In this study, we proposed the odometry method with the Luenberger type observer in order to consider the dynamics for the drive system of mobile robot. The simulation and experimentation results performed in order to evaluate the effectiveness of the proposed method. Simulation and experimental results demonstrated the capability because the localization error by a slip was reduced by adopting the estimation system.
