1. Odometry

2. Basic Odometry Concept

3. Common Wheel Encoders Magnetic Pickup – used in most ABS Hall Effect Optical

4. Magnetic Pickup ABS

5. Incremental Optical Encoder w/ Biphase Output

6. Systematic Errors Unequal wheel diameters. Average of actual wheel diameters differs from nominal wheel diameter. Actual wheelbase differs from nominal wheelbase. Misalignment of wheels. Finite encoder resolution. Finite encoder sampling rate.

7. Non-Systematic Errors Travel over uneven terrain Travel over unexpected objects Wheel-slippage Change in tire shape over time

8. Odometry Trailer

9. References http://hostingprod.com/@aa1car.com/library/abs1.htm “All About ABS”; Carley, Larry; CarleySofware, 2000 http://www-personal.engin.umich.edu/~johannb/index.html Personal web page for Johann Borenstein of Univ of Michigan – many links to papers on odometry including the UMBmark standard.