Verfahren zur korrektur von odometriefehlern während des autonomen antriebs einer mit rädern ausgestatteten vorrichtung und steuereinheit dafür

Abstract

The present invention relates to a method of correction of odometry errors during the autonomous drive of a wheel-equipped apparatus (100) comprising drive means (120) operatively connected to at least two drive wheels (121, 122), at least one pivoting wheel (123,124) operatively connected to sensor means (125,126) and a control unit (200) operatively connected to said drive means (120) and to said sensor means (125,126), said method comprising: - an acquisition phase, wherein said sensor means (125,126) acquire an angle of rotation (6) of said at least one pivoting wheel (123,124) with respect to an axis of rotation (161) substantially perpendicular to a rest surface of said at least one pivoting wheel (123,124); - a generation phase, wherein said control unit (200) generates a corrective signal that controls said drive means (120) in such a way as to independently operate said at least two drive wheels (121, 122) on the basis of the angle of rotation (6) of said at least one pivoting wheel (123,124).