Design of augmented extended Kalman filter for real time simulation of mobile robots using Simulink®

This paper presents a new design of augmented extended Kalman filter (AEKF) for real-time simulation of mobile robots. A Simulink^reg model is developed for simultaneous localization and odometry calibration of mobile robots in real time manner. Starting from the encoders readings, and assuming an absolute measurement available, the AEKF provides the local reconstruction of mobile robots position and orientation with an on-line odometry calibration. The simulation results verify the effectiveness of the proposed method and suggest it as a promising way for real time implementations of augmented Kalman filters.