METHOD FOR DETERMINING SLIPPAGE OF AN AUTONOMOUS MOBILE UNIT WITH THREE-WHEEL KINEMATICS

A method is provided for improving the localization of a robot autonomous mobile unit. A slippage is predicted along a path that the unit is to traverse may be predicted, in that a simplified absolute path trajectory is determined, and based on the unit geometry and motion behavior of three-wheel kinematics, an imaginary slippage derives in the end position. This imaginary slippage can be calculated for various end positions and the most beneficial travel path can thus be selected from a starting point.