Correction Robot pose for SLAM based on Extended Kalman Filter in a Rough Surface Environment

Jaeyong Park, Sukgyu Lee, Joohyun Park
2009 International Journal of Advanced Robotic Systems  
This research deals with mobile robot SLAM algorithm based on extended kalman filter. To enhance a accuracy of robot pose, one more extended kalman filter is used in a rough surface environment. The robot has uncertain kinematic model due to a caterpillar. When the robot drives on irregular surface, it's heading can be corrupted. We propose a method to correct uncertain robot pose using one more extended kalman filter through simulation results.
doi:10.5772/6789 fatcat:lj5dgvr7fvhz3mw565mcoqqtaa