Summary
As you can see, systematic errors and nonsystematic errors both conspire to degrade accuracy. The main problem seems to be the inaccuracies in turning. If Trilobot was able to execute an accurate turn, the overall navigation would be improved drastically. Also, one wheel turning faster than the other causes the robot to move in an arc rather than a straight line. The root cause of this seems to be uneven motor speed. Even small mechanical differences in the friction caused by an axle can contribute to this problem. The next chapter introduces methods to cope with most of these problems, increasing the accuracy of movement greatly. But it comes with a pricethe cost of two rotation sensors!