Localization of Wheeled Mobile Robot Based on Extended Kalman Filtering

摘要

A mobile robot localization method which combines relative positioning with absolute orientation is presented. The code salver and gyroscope are used for relative positioning, and the laser radar is used to detect absolute orientation. In this paper, we established environmental map, multi-sensor information fusion model, sensors and robot motion model. The Extended Kalman Filtering (EKF) is adopted as multi-sensor data fusion technology to realize the precise localization of wheeled mobile robot.Key words: Wheeled mobile robot / Positioning / Multi-sensor / EKF