On-Board Correction of Systematic Odometry Errors in Differential Robots

An easier method for the calibration of differential drive robots is presented. Most of the calibration is done on-board and it is not necessary to expend too much time taking note of the robot's position. The calibration method does not need a big free space to perform the tests. The bigger space is just in a straight line, which is easy to find. Results with the proposed method are compared with those from UMB as a reference, and they show very little deviation while the proposed calibration is much simpler.