Simulation based Analysis of Encoder Resolution on Differential Drive AMR Odometry
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Abstract
This research explores the impact of encoder resolution on the odometry accuracy and navigational performance of a differential-drive Autonomous Mobile Robot (AMR), using the Automated Trash Mobile Robot (ALTO) as a test platform. Encoder pulse-per-revolution (PPR) values ranging from 40 to 4096 were simulated in Gazebo. A custom encoder and odometry simulation algorithm were developed and integrated into the ROS1-based navigation stack. Controlled experiments—including straight-line, rotational, and dynamic path tests—were conducted in virtual environments to compare positional accuracy using /odom, /amcl_pose, /global_pose, and /world_pose. Results showed that higher PPR values improved odometry precision, particularly in orientation estimation, but had limited influence on global pose accuracy under AMCL-based sensor fusion. While lower resolutions caused noticeable drift, AMCL maintained robust localization. The findings offer practical guidance for optimizing encoder selection, balancing cost and performance in industrial AMR deployments.
Manuscript received: 30 Jun 2025 | Revised: 8 Aug 2025 | Accepted: 16 Aug 2025 | Published: 30 Nov 2025
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