Can a low cost IMU compensate for wheel slip induced heading errors?
I have a two wheeled differential drive robot with a Kinect, similar in shape and form to a TurtleBot. The odometry data provides for beautiful straight lines, but when turning there is a tremendous amount of wheel slip on some surfaces, but little or none on others, making it impossible to predict. The result is very strangely shaped rooms.
I have already experimented with compasses (magnetometers?) and am aware that indoor environments are a sea of magnetic distortion of every kind. So I do not think a "compass" can help.
My limited understanding is that an IMU (AHRS?) can help correct the heading error, but I am concerned that they may not be able to deal with the normal magnetic disturbances inside of a building. I cannot tell from online research if such IMUs are able to compensate for variable magnetic disturbances, such as are found in a building, or if they will be just as poor at estimating a heading as a digital "compass".
I've found two low cost IMUs: CH Robotic's UM 7: www.chrobotics.com/shop/um7-lt-orient... The 9DOF Razor IMU: www.sparkfun.com/products/10736
Will either of these provide an accurate enough heading estimate to correct error caused by wheel slip during rotation in an indoor environment?
