Odom Wheels Positioning

[technik3k]

@Elephanf

Also, how should they be positioned on the robot? Is it ok if they’re at, say, the back of the robot? It would still measure movement travelled.

In general you want to have some rubber band tensioning to slightly push tracking wheels into the floor and mount them far from each other to reduce tracking error and jitter.

This topic has a lot of pictures and advice on making good tracking wheels for odometry: Position Tracking Wheels Mechanism

For example, the back view of the 5225A robot:

@nickmertin

240P’s robot design was a very well thought through application of tracking wheels:

@proto

And this was an example of packaging tracking system in a very tight chassis:

@ranOOm