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

[摘要] 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.

[学科分类] 自动化工程

[关键词] SLAM(Simultaneous lacaization and mapping);EKF;Uncertain robot pose;Dynamics of caterpillar