Measurement methods for the path deviation of mobile robots

Accuracy of mobile robots movement is vital to their orientation in the environment. Indoor mobile robots or automated guided mini-vehicles need accurate path tracking to avoid collisions with obstacles. In this paper are presented two methods for determining the deviation from the path, in order to eliminate errors that may occur due to imperfections of robot locomotion system. A method is based on measuring the linear deviation from path, using a route with bands of different sizes and colors. The other method determines the angular deviation using a device, with rotary motion sensor, mounted on a rail.