P. Peydaie
V. Azimirad
M. H. Korayem - Mechanical Engineering, Iran University of Science & Technology

This article has focused on evaluation and identification of effective parameters in positioning performance with an odometry approach of an omni-directional mobile robot. Although there has been research in this field, but in this paper, a new approach has been proposed for mobile robot in positioning performance. With respect to experimental investigations of different parameters in omni-directional mobile robots error, the effects of velocity, length of path, type of wheels and other parameters are analyzed with Gaussian error function estimation. A new approach for determining better characteristics in omni-directional mobile robots error is presented. With respect to arrangement of effective parameters by using statistical process control we have reached a model equation for assumed process (odometry errors). The results show statistical process control as a new trend for reduction of mobile robot error.

Mobile Robot, Experiments, Positioning Performance, statistical analysis