Method of Correction of Odometry Errors During the Autonomous Drive of a Wheel-Equipped Apparatus and Control Unit Thereof

A control unit for correcting odometry errors during the autonomous drive of a wheel-equipped apparatus comprising drive means operatively connected to at least two drive wheels and at least one pivoting wheel operatively connected to sensor means adapted to acquire an angle of rotation of said at least one pivoting wheel with respect to an axis of rotation substantially perpendicular to a rest surface of said at least one pivoting wheel,

• said control unit being operatively connected to said drive means and to said sensor means and being adapted to generate a corrective signal for controlling said drive means in such a way as to independently operate said at least two drive wheels on the basis of the angle of rotation of said at least one pivoting wheel.

An autonomous-drive wheel-equipped apparatus comprising drive means operatively connected to at least two drive wheels, at least one pivoting wheel operatively connected to sensor means and a control unit operatively connected to said drive means and to said sensor means, said wheel-equipped apparatus wherein,

• said sensor means are adapted to acquire an angle of rotation of said at least one pivoting wheel with respect to an axis of rotation substantially perpendicular to a rest surface of said at least one pivoting wheel,
• and wherein said control unit is adapted to generate a corrective signal for controlling said drive means in such a way as to independently operate said at least two drive wheels on the basis of the angle of rotation of said at least one pivoting wheel.