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Originally Posted by Ryan Cumings
Kevin, have you thought about trying wheel odometry to derive heading? I found this site last summer, and I have been so busy and not active with any robotics that I have not had a chance to see if it actually works.
Scroll down to the navigating section
http://www.geology.smu.edu/~dpa-www/robo/nbot/
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Yes, you can use differential wheel odometry to derive heading, but its a headache because just a little bit of wheel slip will throw your heading off (and the error integrates too).
-Kevin