Aiming at non-system error caused by wheel slipping of mobile robot

propose double wheel detection structure model. Based on number of output pulses of encoder of driving wheel and testing wheel

the wheel slipping model for straight line and different steering mode is established and the slipping identification algorithm are given. The operation direction error and displacement error are corrected by the forward correction algorithm or the reverse correction algorithm. The simulation results show that the structure model can be used to accumulate the slipping errors caused by long time operation of the robot

and real-time correction. There is little displacement error in the reverse correction algorithm. The correction precision is superior to the forward correction algorithm

but the forward correction algorithm is simple

and the energy consumption is low.