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http://dx.doi.org/10.5391/JKIIS.2015.25.4.361

UKF Localization of a Mobile Robot in an Indoor Environment and Performance Evaluation  

Han, Jun Hee (Dept. Control and Inst. Eng., Chosun Univ.)
Ko, Nak Yong (Dept. Electronics Eng., Chosun Univ.)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.25, no.4, 2015 , pp. 361-368 More about this Journal
Abstract
This paper reports an unscented Kalman filter approach for localization of a mobile robot in an indoor environment. The method proposes a new model of measurement uncertainty which adjusts the error covariance according to the measured distance. The method also uses non-zero off diagonal values in error covariance matrices of motion uncertainty and measurement uncertainty. The method is tested through experiments in an indoor environment of 100*40 m working space using a differential drive robot which uses Laser range finder as an exteroceptive sensor. The results compare the localization performance of the proposed method with the conventional method which doesn't use adaptive measurement uncertainty model. Also, the experiment verifies the improvement due to non-zero off diagonal elements in covariance matrices. This paper contributes to implementing and evaluating a practical UKF approach for mobile robot localization.
Keywords
Mobile robot localization; Unscented Kalman Filter; Measurement uncertainty; Covariance matrix; exteroceptive measurement;
Citations & Related Records
Times Cited By KSCI : 8  (Citation Analysis)
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