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Unfortunately there is not a way to fix this problem with out adding additional sensors. Dead reckoning will always result in the type of errors you are experiencing. You'll need some way to sense the robot's environment, such as a LIDAR, Kinect, ultrasonic sensors, GPS, etc.

If you did have a LIDAR on board, ROS's navigation package is capable of doing really good localization.

Unfortunately there is not a way to fix this problem with out adding additional sensors. Dead reckoning will always result in the type of errors you are experiencing. Whether inaccuracies are from the error in your measurement of your wheels, the wheels slipping every now and then, etc. those little errors add up very quickly. You'll need some way to sense the robot's environment, such as a LIDAR, Kinect, ultrasonic sensors, GPS, etc.

If you did have a LIDAR on board, ROS's navigation package is capable of doing really good localization.