Does your autonomous use tracker wheels for odometry?
- Tracker wheels that track forward and backward movement
- Tracker wheels that track forward/backward and horizontal movement
- Motor encoders only
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Another option would be odometry with no tracker wheels and no encoders, but using inertial sensor to correct rotation.
It is possible to get a rough integration from the inertial sensor to kinda estimate position, but not recommended imo
How are you supposed to do odometry without tracking wheels. I don’t have any rotation sensors but I have an IMU and I am looking to do odometry without trackers.
Having an IMU is a great start, use the motor encoders instead of tracking wheels and know that you won’t be able to reliably track horizontal drift and also will have to limit accel to ensure you don’r forward slide either.