Mehran Abdolmohammadi - Department of Mechanical and Aerospace Engineering, Islamic Azad University, Science and Research
Ali Maddahi - Department of Mechanical Engineering, K. N. Toosi University of Technology
Yaser Maddahi - Department of Mechanical and Manufacturing Engineering, University of Manitoba, Winnipeg, MB

This article presents an overall laboratory review of mobile robots positioning techniques. Also, design algorithm and calibration design of two ptorototyped models of a two-wheeled mobile robot are covered using the University of Michigan Bench mark (UMBM) method as well as some statistical definitions to verify the effectiveness of this test method which applied on mobile robots. Here, first the details of characteristics of both robots are expressed. Next, this research study describes the implementation algorithm of the UMBmark method. Lastly, in order to validate and verify the test method, some statistical notions are defined and analyzed for noted prototyped robots. The main contribution of this paper is to measure and correct the errors of a twowheeled mobile robot created during the design or fabrication process.

Calibration, Odometry, Two-Wheeled Robot, Systematic Error,Performance Test