Proceedings of the IEEK Conference (대한전자공학회:학술대회논문집)

The Institute of Electronics and Information Engineers (대한전자공학회)
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Position estimation of mobile robot using modified kalman filter

변형된 칼만 필터를 이용한 이동 로봇의 위치 추정

  • Kang, Seon-Ho (Department of Electronic Engineering, Dongguk University) ;
  • Jung, Kyung-Kwon (Department of Electronic Engineering, Dongguk University) ;
  • Lee, Yong-Gu (Department of Medical Instrument and Information, Hallym College) ;
  • Eom, Ki-Hwan (Department of Electronic Engineering, Dongguk University)
  • 강성호 (동국대학교 전자공학과) ;
  • 정경권 (동국대학교 전자공학과) ;
  • 이용구 (한림성심대학 의료기기정보과) ;
  • 엄기환 (동국대학교 전자공학과)
  • Published : 2006.06.21
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Abstract

This paper proposes a method of position estimating through compensating the autonomous mobile robot's noise. Proposed method is that estimated position error by modified Kalman filter method using neural network. We use a neural network for measurement noise covariance and system noise covariance. In order to verify the effectiveness of the proposed method, we performed experiments for position estimation. The results show that convergence and position error is reduced than the Kalman filter method.

Keywords