The position of the robot on the map is different from its actual position

asked 2021-03-30 21:39:02 -0500

Rikyuugo gravatar image

updated 2021-03-31 08:57:36 -0500

Hi!I have a real robot and the actual position of the robot is different from that on the map.I have tried to make the initial position the same as the robot's actual position, but after walking a straight line for a period of time, the robot's positioning deviated. How to improve the positioning accuracy except replacing robot parts?Thanks a lot

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Rikyuugo gravatar image Rikyuugo  ( 2021-03-30 21:57:40 -0500 )edit

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Rikyuugo gravatar image Rikyuugo  ( 2021-03-30 21:58:04 -0500 )edit

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Rikyuugo gravatar image Rikyuugo  ( 2021-03-30 21:58:31 -0500 )edit

It's hard to help without more info. AMCL requires at least reasonable accuracy from ODOM and the laser. I can see in the photo the robot has to work on different surfaces. If ODOM accuracy is poor on one of the surfaces, you could adjust ODOM tuning to work better on that surface.

AMCL can also only adapt to small position errors and it runs a scan based on changes in ODOM, so if the ODOM is reporting small changes when there are actually large changes in position, AMCL can quickly fail like I see in the photo. Set AMCL to scan with smaller changes to ODOM.

It may also end being required to change HW. If the wheels on the robot really can't be made to work on the carpet, no amount of SW will fix it. Also, maybe the frame of the robot is dragging on ...(more)

billy gravatar image billy  ( 2021-04-03 02:27:02 -0500 )edit

Sorry for the late reply. Thank you for your reply.It doesn't seems that the carpet be the reason.(I tried to take the blanket away, but the problem could not be solved.)I will try to adjust ODOM tuning and provide more information if i still can't solve this problem.@billy

Rikyuugo gravatar image Rikyuugo  ( 2021-04-05 09:19:29 -0500 )edit