Odometry for tracked vehicles

[klausener]

Hallo together,

I try to a build a simulation for our tracked robot. Especially the odometry makes some trouble. The simulated robot has two tracks each equipped with position sensor like the real robot. For the real robot I use the method explained in (Path Following Control for Tracked Vehicles Based onnSlip-Compensating Odometry by Daisuke Endo, Yoshito Okada, Keiji Nagatani, and Kazuya Yoshida 2007). Unfortunately, the odometry result (x,y) in the simulation is incorrect. Does anybody has experience or a solution for odometry calculation for tracked robots in webots?

Thanks in advance