Correction Robot pose for SLAM based on Extended Kalman Filter in a Rough Surface Environment

Correction Robot pose for SLAM based on Extended Kalman Filter in a Rough Surface Environment

Show other versions (1)

This research deals with mobile robot SLAM algorithm based on extended kalman filter. To enhance a accuracy of robot pose, one more extended kalman filter is used in a rough surface environment. The robot has uncertain kinematic model due to a caterpillar. When the robot drives on irregular surface,...

Full description

Bibliographic Details
Main Authors: Jaeyong Park, Sukgyu Lee, Joohyun Park
Format: Article
Language:English
Published: SAGE Publishing 2009-06-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/6789
id doaj-f5d418e7d0cf4a8eaf805317b16620d8
record_format Article
spelling doaj-f5d418e7d0cf4a8eaf805317b16620d82020-11-25T03:02:54ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142009-06-01610.5772/678910.5772_6789Correction Robot pose for SLAM based on Extended Kalman Filter in a Rough Surface EnvironmentJaeyong ParkSukgyu LeeJoohyun ParkThis research deals with mobile robot SLAM algorithm based on extended kalman filter. To enhance a accuracy of robot pose, one more extended kalman filter is used in a rough surface environment. The robot has uncertain kinematic model due to a caterpillar. When the robot drives on irregular surface, it's heading can be corrupted. We propose a method to correct uncertain robot pose using one more extended kalman filter through simulation results.https://doi.org/10.5772/6789
collection DOAJ
language English
format Article
sources DOAJ
author Jaeyong Park
Sukgyu Lee
Joohyun Park
spellingShingle Jaeyong Park
Sukgyu Lee
Joohyun Park
Correction Robot pose for SLAM based on Extended Kalman Filter in a Rough Surface Environment
International Journal of Advanced Robotic Systems
author_facet Jaeyong Park
Sukgyu Lee
Joohyun Park
author_sort Jaeyong Park
title Correction Robot pose for SLAM based on Extended Kalman Filter in a Rough Surface Environment
title_short Correction Robot pose for SLAM based on Extended Kalman Filter in a Rough Surface Environment
title_full Correction Robot pose for SLAM based on Extended Kalman Filter in a Rough Surface Environment
title_fullStr Correction Robot pose for SLAM based on Extended Kalman Filter in a Rough Surface Environment
title_full_unstemmed Correction Robot pose for SLAM based on Extended Kalman Filter in a Rough Surface Environment
title_sort correction robot pose for slam based on extended kalman filter in a rough surface environment
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2009-06-01
description This research deals with mobile robot SLAM algorithm based on extended kalman filter. To enhance a accuracy of robot pose, one more extended kalman filter is used in a rough surface environment. The robot has uncertain kinematic model due to a caterpillar. When the robot drives on irregular surface, it's heading can be corrupted. We propose a method to correct uncertain robot pose using one more extended kalman filter through simulation results.
url https://doi.org/10.5772/6789
work_keys_str_mv AT jaeyongpark correctionrobotposeforslambasedonextendedkalmanfilterinaroughsurfaceenvironment
AT sukgyulee correctionrobotposeforslambasedonextendedkalmanfilterinaroughsurfaceenvironment
AT joohyunpark correctionrobotposeforslambasedonextendedkalmanfilterinaroughsurfaceenvironment
_version_ 1724687819026202624

Similar Items