The thesis was inside the development program of BAT-MAN projects. The project scope is to apply estimation techniques, developed during previous BAT-MAN projects, to the odometric problem of an autonomous vehicle (BAT-MOB). In details, the activities and the studies have been performed are: - Extension of like-ERMES algorithm to odometry: statement of the problem; - Develop a simple dynamic/kinetic model of the vehicle in MATLAB/SIMULINK; - Apply the solution in a virtual environment (MATLAB/SIMULINK); - Implement the solution using a small vehicle prototype already available; - Testing and data analysis. the result was a data analysis among different profiles using the filter needed to get a perfect robot posture in order to achieve the destination and the goal .