Using Kalmtool in Navigation of Mobile Robots

Abstract

This paper presents an application of a simulation platform for sensor fusion in mobile robotics. The platform is based on the Kalmtool toolbox which is a set of MATLAB tools for state estimation of nonlinear systems. The toolbox contains functions for extended Kalman filtering as well as several other state of the art filters. Two robotic platforms are considered, a Medium-size Mobile Robot and a Hako tractor. The system models for the vehicles are derived and by using Kalmtool suitable filter coefficients are found. The paper presents sensor fusion results from several runs of real life data based on odometry and GPS. 1 1