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Odometry Algorithm with Obstacle Avoidance on Mobile Robot Navigation

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Figure

Fig. 17.1 System block diagram
Figure 17.2 shown the top and bottom platform layer, and the mounting accessories for DC Geared Motor and disc encoder
Figure 17.4 explain about detailed odometry geometry for our mobile robot. The vehicle starts from (x, y, θ) and destination position at (xʹ, yʹ, θʹ)
Fig. 17.5 System flowchart
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