mobile robot navigation error handling using an extended kalman filter

obviously navigation is one of the most complicated issues in mobile robots.intelligent algorithms are often used for error handling in robot navigation. thispaper deals with the problem of inertial measurement unit (imu) error handling byusing extended kalman filter (ekf) as an expert algorithms. our focus is put onthe field of mobile robot navigation in the 2d environments. the main challenge inthis issue is to keep track of the position and orientation within a global frame ofreference using a variety of sensors providing dead-reckoned odometry, inertialand absolute data.