| 摘要 |
<p>An improved device and method for performing accurate mobile robot dead-reckoning by performing Internal Position Error Correction (IPEC) which corrects systematic as well as non-systematic dead-reckoning errors. A first variation utilizes a smart encoder trailer (22) which adapts an existing dead-reckoning mobile robot (20). A second variation (71) provides a pair of robotic vehicles (72, 74) coupled with a compliant linkage (76) which monitors relative positioning between the vehicles (72, 74) in order to perform internal position error correction. A third and final variation utilizes a pair of decoupled mobile robotic vehicles (110, 112), each performing dead-reckoning, further provided with individual transmitter (122, 124) and receiver (126, 128) arrays which determine relative positioning therebetween in order to perform internal position error correction.</p> |
