How Mobile Robots Track Their Position: Odometry and Localization
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19A mobile robot tracks its position using odometry.
It begins with motor movement.
Encoders measure how much the wheels have rotated.
Kinematic equations convert that data into position estimates.
This gives us odometry, the robot’s internal guess of where it is.
But odometry alone isn’t reliable.
Small errors build up fast.
To stay accurate, robots use localization.
Localization compares odometry with a known map.
It corrects drift.
It refines the robot’s position.
Result: accurate tracking of the robot’s location in the environment.
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