Localization for a car-like mobile robot using nonlinear dynamic model
نویسندگان
چکیده
The problem of localization is well known in mobile robotics. A solution is to use a model-based technique such as a kalman filter with multi sensor data fusion. For a car-like mobile robot, the nonlinear dynamic model is suitable for robot movement representation. This work presents the discrete extended kalman filter including a nonlinear dynamic model for the mobile robot localization. As inputs for the kalman filtering, gyroscope and compass sensors provide the relative and absolute yaw angles. The experiments are performed on several path types and the averages of the final position errors and the final heading errors are proposed.
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