POSITION ESTIMATION OF THE MOBILE ROBOT USING THE KALMAN FILTER

摘要

The paper presents need of using Kalman filtering to optimize location of mobile robotic systems and more accurate navigation. Theoretical knowledge was verified on real system represented by mobile robotic system (MRS) with mecanum wheel. Construction deficiencies causes large deviations in movement from desired trajectory, which makes using Kalman filter more efficient. Localization was performed in indoor hall using odometry from motion sensors and tracking landmarks placed on the hall ceiling with infrared camera Stargazer. On obtained data was used discrete KF, subsequently modified data were used to regulate motion. Acquired motion trajectories were compared at the end of the article.