Odometry

Odometry is the use of data from motion sensors to estimate change in position over time.

This method is sensitive to errors due to the integration of velocity measurements over time to give position estimates.

Rapid and accurate data collection, instrument calibration, and processing are required in most cases for odometry to be used effectively.

Additionally, each motor has a rotary encoder, allowing determination of whether either wheel has traveled one "unit" forward or reverse along the floor.

In this situation, the magnitude of the change of position of the center of the robot is one half of a unit.