EVALUATION OF POSITIONING ACCURACY FOR A LOW-COST FOUR-WHEELED MOBILE ROBOT WITH OPTICAL MOTION SENSORS
DOI:
https://doi.org/10.26906/SUNZ.2025.3.041Keywords:
mobile robot, positioning, odometry, optical encoders, error, calibration, low-cost robotic platformAbstract
This paper investigates the positioning accuracy of a mobile robot built on a low-cost four-wheeled platform equipped with optical motion sensors. The design of the robot, the control system scheme, and the methodology for determining linear and angular displacements using odometry are described. Primary and secondary positioning errors are analyzed, including their systematic and random components. A calibration procedure was conducted, involving hardware weight balancing, PWM signal adjustments, and refinement of the odometric model through correction coefficients. Logarithmic approximations of the correction factors were constructed for different types of motion. Experimental results confirmed the effectiveness of the proposed approach: relative positioning errors were reduced on average by a factor of 2 to 4. Conclusions are drawn regarding further ways to improve positioning accuracy, taking into account the cost limitations of the hardware platform.Downloads
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Copyright (c) 2025 Andrij Klyon, Andrii Tretiak, Olexandr Fomin, Sergiy Yastreba, Anatolii Burlakov
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
