An EKF SLAM algorithm for mobile robot with sensor bias estimation

摘要

This paper presents an improved EKF method applied into mobile robot SLAM problem, which has taken the sensor bias problem into consideration. Mobile robot Pioneer 3 - AT is taken as the model in this paper to study on the theoretical derivation and the experimental verification. The kinematic model of Pioneer 3 - AT mobile robot is presented at first. Then the improved EKF method considering the bias estimation and compensation problem is proposed to enhance the position estimation accuracy. In the end, simulation experiments are presented to verify the effectiveness of the proposed method. The results show that the method is always effective on ensuring the estimation accuracy even though with unknown bias.