Nabil Zhafri, Mohd Nasir and Muhammad Aizzat, Zakaria and Saifudin, Razali and Mohd Yazid, Abu (2017) Autonomous Mobile Robot Localization using Kalman Filter. In: MATEC Web of Conferences: The 2nd International Conference on Automotive Innovation and Green Vehicle (AiGEV 2016) , 2-3 August 2016 , Malaysia Automotive Institute, Cyberjaya, Selangor. pp. 1-9., 90 (01069). ISSN 2261-236X
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Abstract
Autonomous mobile robot field has gain interest among researchers in recent years. The ability of a mobile robot to locate its current position and surrounding environment is the fundamental in order for it to operate autonomously, which commonly known as localization. Localization of mobile robot are commonly affected by the inaccuracy of the sensors. These inaccuracies are caused by various factors which includes internal interferences of the sensor and external environment noises. In order to overcome these noises, a filtering method is required in order to improve the mobile robot’s localization. In this research, a 2- wheeled-drive (2WD) mobile robot will be used as platform. The odometers, inertial measurement unit (IMU), and ultrasonic sensors are used for data collection. Data collected is processed using Kalman filter to predict and correct the error from these sensors reading. The differential drive model and measurement model which estimates the environmental noises and predict a correction are used in this research. Based on the simulation and experimental results, the x, y and heading was corrected by converging the error to10 mm, 10 mm and 0.06 rad respectively.
| Item Type: | Conference or Workshop Item (Lecture) |
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| Uncontrolled Keywords: | mobile robot; Kalman filter; Localization |
| Subjects: | T Technology > TS Manufactures |
| Faculty/Division: | Faculty of Manufacturing Engineering |
| Depositing User: | Noorul Farina Arifin |
| Date Deposited: | 07 Nov 2017 04:09 |
| Last Modified: | 27 Feb 2018 07:58 |
| URI: | http://umpir.ump.edu.my/id/eprint/18974 |
| Download Statistic: | View Download Statistics |
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