Kalman Filter Applied To A Differential Robot

Authors :: Vera, Sendey
Chuquimarca, Luis
Plaza, Douglas
Source :: 2023 1st International Conference on Circuits, Power and Intelligent Systems (CCPIS) (pp. 1-6). IEEE
Publication Year :: 2024
Abstract: This document presents the study of the problem of location and trajectory that a robot must follow. It focuses on applying the Kalman filter to achieve location and trajectory estimation in an autonomous mobile differential robot. The experimental data was carried out through tests obtained with the help of two incremental encoders that are part of the construction of the differential robot. The data transmission is carried out from a PC where the control is carried out with the Matlab/Simulink software. The results are expressed in graphs showing the path followed by the robot using PI control, the estimator of the Kalman filter in a real system.<br />Comment: 7 pages, 13 figures

Subjects :: Computer Science - Robotics
Electrical Engineering and Systems Science - Systems and Control
93Dxx
D.3.2
B.7

Database :: arXiv
Journal :: 2023 1st International Conference on Circuits, Power and Intelligent Systems (CCPIS) (pp. 1-6). IEEE
Publication Type :: Report
Accession number :: edsarx.2410.04011
Document Type :: Working Paper
Full Text :: https://doi.org/10.1109/CCPIS59145.2023.10291441