Maddahi - Instructor of Iran University of Science and Technology, Industrial Engineering Department, Iran University of Science and Technology, Narmak, Tehran, IRAN
Maddahi - BSc. Student of Amir Kabir University of Technology, Industrial Engineering Department, Iran University of Science and Technology, Narmak, Tehran, IRAN

In this paper a new systematic methodology to calculate the posture errors of mobile robots is presented. This method is based on kinematics equations of mobile robots and used for correcting the systematic errors of robots. Based on this method, a computer program has been developed that calculates these errors of robot center of wheel base and correct the errors automatically. This methodology and its related software are applied for error analysis of two mobile robots. These robots are consisting of a two-wheeled robot and a three-wheeled omni-directional robot.

YMB Mark Method, Mobile Robots, Odometry Tests, Error Analysis, Systematic Errors