Exploring the Use of Particle and Kalman Filters for Obstacle Detection in Mobile Robots

摘要

The present study aims to explore the adaptation of estimation methodologies, specifically Particle filters and Kalman filters, for the purpose of determining the position and velocity vector of obstacles within the operational workspace of mobile robots. These algorithms are commonly employed in the motion planning tasks of mobile robots for the estimation of their own position. The proposed methodology utilizes LiDAR sensor data to estimate the position vectors and calculate the velocity vectors of obstacles. Additionally, an uncertainty parameter can be determined using the introduced perception method. The performance of the newly adapted algorithms is evaluated through comparison of the absolute error in position and velocity vector estimations.