Positioning errors consideration for indoor mobile robot design

This paper deals with the design and implementation of an improved localization method. The study presented in this paper focuses on the displacement and heading errors. The technique proposed improves considerably on dead reckoning methods by reducing the systematic and non‐systematic errors. Detection of the floor irregularities is the main feature of the designed method in the correction of displacement errors. However, for internal errors correction, a trailing wheel is used. Following that, a predefined trajectory is provided by the control of the trailing wheel deviation angle.