This paper presents the experimental results of test with a new method for detecting and correcting odometry errors without inertial or external-reference sensors. This method, called internal position error correction (IPEC), has been implemented on a new, commercially available mobile robot called "OmniMate", which was specifically designed for the implementation of the IPEC method. The results presented show that the OmniMate can improve odometric accuracy by one order of magnitude over conventional mobile robots. The OmniMate's odometry is almost completely insensitive to even severe irregularities of the floor. With conventional mobile robots such irregularities can cause large odometry errors with potentially catastrophic effects, thus mandating frequent external registrations to correct for possible odometry errors. The OmniMate with IPEC, on the other hand, detects and corrects such nonsystematic odometry errors, thus allowing more reliable travel over larger distances.
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