SUMMARYThe positioning of a wheeled robot is an imperative manipulation problem in mobile robotics. Odometry is a familiar method for determining the relative position of a mobile robot. It comprises the detection of a set of kinematic parameters that permit reconstructing the robot's absolute position and orientation starting from the wheels' encoder measurements. This paper deals with the determination of better relative localization of a mobile robot by means of odometry by considering the influence of parameters namely total weight, speed, diameter of wheel, and width of wheel. Experiments have been conducted based on L9 orthogonal array suggested in Taguchi method to obtain the optimum condition. A mathematical model has also been developed for the mobile robot with the help of MINITAB software.

Natural fibers such as banana, sisal, snake grass, coir, hemp, jute and so on are armed with enormous advantages like less weight, reliability, recyclability and environmental friendly nature. Such fibers may enhance the system's performance by acting as additives with the thermoplastics in different perspectives. Besides the natural composites, hybrid composites facilitate the design of material with specific property matched to an application. In the present work an attempt has been made to manufacture and test the banana and snake grass short fiber reinforced hybrid polyester composites in random orientation and random lay-up. Methyl Ethyl Ketone Peroxide was used as the coupling agent and Cobalt Naphthalene as the catalyst. Hand layup technique was used to manufacture the composites. Relative volume fraction of the fibers was varied between 2.5-12.5% in the ratio 1:1. Properties like tensile strength and modulus, flexural strength and modulus are measured for the composites by conducting the appropriate tests according to ASTM standards.