A Study on Development of a Reconfigurable Mobile Robot and Dead-Reckoning Using Extended Kalman Filter

가변구조형 주행로봇 개발 및 확장형 칼만필터를 이용한 추측 항법에 대한 연구

  • Published : 2009.05.01


This paper presents design concepts of a reconfigurable mobile robot for both of indoor and outdoor applications. A linkage mechanism and wheel-in-motors give the proposed mobile robot various driving modes in maneuver and good adaptability to irregular surface. Since the mobile robot receives multiple sensor signals from odometers and an orientation sensor, states related to the position and the orientation of the mobile robot are optimally estimated by an extended Kalman filter. Simulations and experimental results show that the performance of dead reckoning on estimating the pose of a mobile robot can be improved remarkably by the optimal state observer.


Reconfigurable;Mobile Robot;Adaptability;Extended Kalman Filter; Dead Reckoning


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