Odometry - FontysAtWork/ESA-PROJ GitHub Wiki

Besides the use of LiDAR sensors for positioning we use the robots odometry. More specific, the information from the wheel encoders. Though this information is not technically necessary any more and is prone to drift over time (wheel slippage) we still decided to use it. The main reason is to mitigate the one "shortcoming" the LiDAR sensors have. If the scanned or walls lack unique features it is hard to track position over time using the LiDAR sensors. We use an AMCL approach to effectively work out the likeliest location the robot is in. Adding the odometry as an information source gives it the ability to reduce the error when the LiDAR sensor data is not conclusive.