Open AccessAN EXTENDED AND UNSCENTED KALMAN FILTERS SIMULATION AND DESIGN FOR A MOBILE ROBOT
Author(s) -
Rashid Ali
Publication year - 2020
Publication title -
journal of mechanics of continua and mathematical sciences
Language(s) - English
Resource type - Journals
eISSN - 2454-7190
pISSN - 0973-8975
DOI - 10.26782/jmcms.2020.11.00003
Subject(s) - extended kalman filter , kalman filter , mobile robot , encoder , beacon , computer science , computer vision , simultaneous localization and mapping , robot , control theory (sociology) , artificial intelligence , control engineering , engineering , real time computing , control (management) , operating system
This research analyzes the design and simulation of a mobile robot using Extended Kalman Filter (EKF) and Unscented Kalman filter (UKF). The mobile platform has a differential configuration, where each track of a wheel is associated with an encoder. The EKF and UKF methods are used to integrate the measurements of a novel odometric system based on the optical mice and the measurements of a localization system based on a map of geometric beacons. Two different types of simulations have been performed for validating the results, either using the mouse-based odometric system or using the conventional wheel encoder-based odometric system, to compare and evaluate the errors made by each system.