Robot localization using extended kalman filter with infrared sensor

摘要

In order to use mobile robot for any application, mobile robot should have an accurate pose information. Most of the localization systems are based on the odometry sensors or the map of the environment, Therefore, localization is a major requirement for a mobile robot. The navigating operation in mobile robot usually uses the odometry sensors to estimate its position. These odometry sensors reckoning the number of revolutions that the wheels make while driving and turning. This reading of the wheel is used to estimating the displacement over the ground to give a make of the location of the robot. This way of localization has many problem, such as wheel slippage, surface roughness, and mechanical tolerances. These papers, propose a mobile robot localization system based on the extended kalman filter and infrared sensor to overcome the problems of localization in mobile robot. The experimental result of this paper illustrates the robust and the accuracy of the proposed system.