이동 로봇의 위치 인식을 위한 삼변 측량 확장 칼만 필터 설계

The design of trilateration Extended Kalman Filter for localization of mobile robot

This paper presents an accurate indoor localization method of a mobile robot using ultrasonic sensors. The coordinates of mobile robot are calculated by using trilateration which is using the distance between the transmitter and receiver. At this time, the distances can't be accurately calculated by containing noise. We propose Extended Kalman Filter(EKF) to improve estimation accuracy. The performance of proposed EKF is evaluated by simulation program. As a result, we confirm that the errors in estimate of mobile robot's position are eliminated from measured distance.