Two Wheels Differential Type Odometry for Mobile Robots

The research presents a modern way of bi-wheels differential mode odometry to predict the next planar and angular co-ordinate of mobile robots. The presented odometry incorporates two independent wheels with respective encoders. The rotation of two wheels is independent, and the change is determined by the difference in the velocity of the bi-wheels. Rotational velocities by the two wheels are determined by angular encoders. A Mathematical model is proposed for the mobile robots to precisely move towards the goal. Using calculated data by the two encoders, the present displacement of a mobile robot is measured with odometry of the presented Mathematical model. With the help of displacement, the next planar and angular co-ordinate of mobile robot is determined by proposed odometry. Result from simulator experiment with the derived odometry is demonstrated. The result shows optimized odometry with minimum deviation from actual path.