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If you use an accelerometer, you have to integrate twice to arrive at distance travelled. These two integrations will also compound errors and noise, so the result won't be very accurate without many corrections. If a wheel doesn't slip and is undriven, the results of counting wheel rotations should be fairly accurate when the robot is moving in a straight ...


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If you measure one of the free running wheels (with no motor connect to it), it depends on the traction of the wheel, but that could be fairly accurate. If you move horizontally a simple accellerometer (1 axis) would be great. But if you have a vertical component, then you can not distinct between accelleration and weight force (Einstein). If you use a 3 ...


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