文章基本信息

标题：Autonomous mobile robot localization using Kalman filter
本地全文：下载
作者：Nabil Zhafri Mohd Nasir ; Nabil Zhafri Mohd Nasir ; Muhammad Aizzat Zakaria 等
期刊名称：MATEC Web of Conferences
电子版ISSN：2261-236X
出版年度：2017
卷号：90
页码：1-9
DOI：10.1051/matecconf/20179001069
语种：English
出版社：EDP Sciences
摘要：Autonomous mobile robot field has gain interest among researchers in recent years. The ability of a mobile robot to locate its current position and surrounding environment is the fundamental in order for it to operate autonomously, which commonly known as localization. Localization of mobile robot are commonly affected by the inaccuracy of the sensors. These inaccuracies are caused by various factors which includes internal interferences of the sensor and external environment noises. In order to overcome these noises, a filtering method is required in order to improve the mobile robot’s localization. In this research, a 2- wheeled-drive (2WD) mobile robot will be used as platform. The odometers, inertial measurement unit (IMU), and ultrasonic sensors are used for data collection. Data collected is processed using Kalman filter to predict and correct the error from these sensors reading. The differential drive model and measurement model which estimates the environmental noises and predict a correction are used in this research. Based on the simulation and experimental results, the x, y and heading was corrected by converging the error to10 mm, 10 mm and 0.06 rad respectively.