Robust Localization and Position Control for Mobile Robot Using EKF with Disturbance Estimation

摘要

This paper introduces an extended Kalman filter based robust localization for mobile robot. The presented EKF estimates the velocity and angular velocity disturbances with the robot position and the position of landmarks. The consideration of the disturbance assists to estimate the correct physical values under the disturbance. Furthermore, this paper presents a position control with the velocity disturbance cancellation.