Position Estimation Method for Autonomous Mobile Robot Considering Noise

摘要

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 simulations and experiments for position estimation. The results show that convergence and position error is reduced than the Kalman filter method.