| Title |
The Motion Estimation of Caterpilla-type Mobile Robot Using Robust SLAM |
| Authors |
변성재(Byun, Sung-Jae) ; 이석규(Lee, Suk-Gyu) ; 박주현(Park, Ju-Hyun) |
| Keywords |
SLAM(Simultaneous Localization and Mapping) ; Particle Filter ; EKF(Extended Kalman Filter) ; Kinematics uncertainty ; Autonomous mobile robot |
| Abstract |
This paper proposes a robust method for mapping of a caterpillar-type mobile robot which inherently has uncertainty in its modeling by compensating for the estimated pose error of the robot. In general, a caterpillar type robot is difficult to model, which results in inaccuracy in Simultaneous Localization And Mapping(SLAM). To enhance the robustness of the SLAM for a caterpillar-type mobile robot, we factorize the SLAM posterior, where we used particle filter to estimate the position of the robot and Extended Kalman Filter(EKF) to map the environment. The simulation results show the effectiveness and robustness of the proposed method for mapping. |