Title of article
Correction Robot pose for SLAM based on Extended Kalman Filter in a Rough Surface Environment
Author/Authors
Jaeyong Park، نويسنده , , Sukgyu Lee، نويسنده , , Joohyun، نويسنده , , Park، نويسنده ,
Issue Information
روزنامه با شماره پیاپی سال 2009
Pages
6
From page
67
To page
72
Abstract
This research deals with mobile robot SLAM algorithm based on extended kalman filter. To enhance aaccuracy of robot pose, one more extended kalman filter is used in a rough surface environment. The robot hasuncertain kinematic model due to a caterpillar. When the robot drives on irregular surface, it’s heading can becorrupted. We propose a method to correct uncertain robot pose using one more extended kalman filter throughsimulation results
Keywords
Uncertain robot pose , Dynamics of caterpillar , EKF , SLAM(Simultaneous lacaization and mapping)
Journal title
International Journal of Advanced Robotic Systems
Serial Year
2009
Journal title
International Journal of Advanced Robotic Systems
Record number
668457
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