Localization and Navigation Method for Omni-directional Mobile Robot Based on Odometry

Omni-directional mobile robot has been widely used in the field of mobile robots due to its omni-directional movement. The research on its localization and navigation methods has also become an important step in the application process. In this paper, a localization method based on odometry system is proposed, and a calibration method is proposed to reduce the systematic error of odometry system. At the same time, the navigation methods of line path and circular path for omni-directional mobile robot are proposed to realize the autonomous movement of the robot. The experiments show that the proposed method can realize the accurate localization and automatic path navigation of the robot on the condition that the map is known.