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Robot Odometry Correction Using Grid Lines on the Floor

This paper presents an algorithm to correct the odometry error of an autonomous mobile robot only by using a painted grid on the floor. The supposed robot position is calculated by odometry and is matched with the grid lines, whose existence is known to the robot. A new “position probability function” was developed and used by the correction algorithm. The correction of the odometry error is also based on interactive trajectory modification, in order to reduce the error when crossing a line.