Title :
EKF Based Mobile Robot Localization
Author :
Chen, Ling ; Hu, Huosheng ; McDonald-Maier, Klaus
Author_Institution :
Sch. of Comput. Sci. & Electron. Eng., Univ. of Essex, Colchester, UK
Abstract :
Localization plays a significant role in the autonomous navigation of a mobile robot. This paper investigates mobile robot localization based on Extended Kalman Filter(EKF) algorithm and a feature based map. Corner angles in the environment are detected as the features, and the detailed processes of feature extraction are described. Then the motion model and odometry information are elaborated, and the EKF localization algorithm is presented. Finally, the experimental result is given to verify the feasibility and performance of the proposed localization algorithm.
Keywords :
Kalman filters; feature extraction; mobile robots; path planning; EKF based mobile robot localization; autonomous navigation; corner angles; extended Kalman filter; feature based map; feature extraction; motion model; odometry information; Algorithm design and analysis; Feature extraction; Kalman filters; Mathematical model; Mobile robots; Robot kinematics; EKF; Odometry; feature extraction; localization; motion model;
Conference_Titel :
Emerging Security Technologies (EST), 2012 Third International Conference on
Conference_Location :
Lisbon
Print_ISBN :
978-1-4673-2448-9
DOI :
10.1109/EST.2012.19
