Odometry Correction of a Mobile Robot Using a Range-Finding Laser

Abstract

Two methods for improving odometry using a pan-tilt range-finding laser is considered. The first method is a one-dimensional model that uses the laser with a sliding platform. The laser is used to determine how far the platform has moved along a rail. The second method is a two-dimensional model that mounts the laser to a mobile robot. In this model, the laser is used to improve the odometry of the robot. Our results show that the one-dimensional model proves our basic geometry is correct, while the two-dimensional model improves the odometry, but does not completely correct it