🚀 go-pugleaf

We've used several INS systems in our work. They do tend to be the
expensive military systems (we don`t pay for them!)
but more recently available inexpensive heading gyros can
provide fairly accurate heading information.

Skid-steer devices like that mentioned are pretty bad for open-loop
dead-reckoning. For small moves in the direction of the tracks
they can be pretty accurate but additional sensing with INS`s
or heading sensors you can do ok. If you pickup up on external
features once in a while you can recalibrate your drift errors.

Dead-reckoning need not be very bad though. With accurate all-wheel
systems like synchronous or independent steer you can get 1-2% 
accuracies in building or warehouse environments. With some
roller wheels (Mecanum or La) you can do even better because
contact is nearly pure rolling and not skidding.

Some of this navigation technology is being driven by truck and
automotive needs and several car companies have invested resources
into heading devices.


			nivek
--

aka: Kevin Dowling			Carnegie Mellon University
tel: (412) 268-8830			The Robotics Institute
adr: nivek@rover.ri.cmu.edu		Pittsburgh, PA 15213