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Correction Robot pose for SLAM based on Extended Kalman Filter in a Rough Surface Environment
2009
International Journal of Advanced Robotic Systems
Preserved Fulltext
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