In-Depth Analysis of Differential Drive Mobile Chassis Odometry Calibration: Wheel Diameter Error, Effective Wheelbase, and Real-Vehicle Trajectory Verification

Odometry calibration for a differential drive mobile chassis must address two key parameters: wheel diameter error and effective wheelbase, and the calibration effect must be verified through real-vehicle trajectories. The article analyzes these two sources of error, explaining their impact on odometry accuracy and the calibration approach.