Mobile Robot Localization via Unscented Kalman Filter
https://ieeexplore.ieee.org/document/9034570
Abstract:
Mobile robot localization concerns estimating the position and heading of the robot relative to its environment. Basically, the mobile robot moves around without initial knowledge of the environment. Therefore, a scheme to handle it is necessary, such as the Kalman Filters. Rather than the Extended Kalman Filter, we choose to employ the sigma points approach. In this paper, we take into consideration the method proposed by Van Der Merwe to determine the sigma points in Unscented Kalman Filter. The simulation and results verify that the Unscented Kalman Filter works pretty well for locating the mobile robot.
Published in: 2019 International Seminar on Research of Information Technology and Intelligent Systems (ISRITI)
Date of Conference: 5-6 Dec. 2019
Date Added to IEEE Xplore: 16 March 2020
ISBN Information:
Electronic ISBN: 978-1-7281-4520-4
USB ISBN: 978-1-7281-4519-8
Print on Demand(PoD) ISBN: 978-1-7281-4521-1
INSPEC Accession Number: 19455535
DOI: 10.1109/ISRITI48646.2019.9034570
Publisher: IEEE
Conference Location: Yogyakarta, Indonesia, Indonesia