On-Board Correction of Systematic Odometry Errors in Differential Robots

Table 2

Validation results 3m.

Method
		(mm)	(mm)	(rads)
Before cal.	Mean Error	62.33	96.00	0.0046
	Std. Dev.	7.09	14.53	0.0036
UAH Cal.	Mean Error	6.75	63.25	-0.041
	Std. Dev.	1.26	15.20	0.0056
UMB Cal.	Mean Error	4.75	60.01	-0.0338
	Std. Dev.	1.70	14.13	0.0034