Volume : I, Issue : X, July - 2012

Advances In Derivative Free Mobile Robot Position Determination

Swapnil Saurav

Abstract :

Although Kalman filters have been used for decades for navigation and system integration, almost all the EKF–like methods failed in some state estimation problems with strong non–linearity. Here in this paper we shall discuss the applicability of Unscented Kalman Filtering, as a derivative free alternative for mobile robot localization. However, there is a parameter adjustment problem associated with them, which hinders accurate localization. In the paper, we have discussed the technique to relieve mobile robot developers of the tedious task of adjusting several parameters by hand.

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Article: Download PDF   DOI : 10.36106/ijar  

Cite This Article:

Swapnil Saurav Advances In Derivative Free Mobile Robot Position Determination Indian Journal of Applied Research, Vol.I, Issue.X July 2012

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