Correction Robot pose for SLAM based on Extended Kalman Filter in a Rough Surface Environment

Abstract

This research deals with mobile robot SLAM algorithm based on extended kalman filter. To enhance a accuracy of robot pose, one more extended kalman filter is used in a rough surface environment. The robot has uncertain kinematic model due to a caterpillar. When the robot drives on irregular surface, it's heading can be corrupted. We propose a method to correct uncertain robot pose using one more extended kalman filter through simulation results.

Keywords

• SLAM(Simultaneous lacaization and mapping)
• EKF
• Uncertain robot pose
• Dynamics of caterpillar.