Mobile Robot Positioning Method Based on Improved Cubature Kalman Filter

In order to solve the problem of low positioning accuracy of two-wheel mobile robot, a positioning method of mobile robot based on improved Cubature Kalman filter is proposed. According to the system model of two-wheel mobile robot, a positioning method which mainly uses odometer assisted by strapdo...

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Bibliographic Details
Published in2019 11th International Conference on Intelligent Human-Machine Systems and Cybernetics (IHMSC) Vol. 2; pp. 46 - 49
Main Authors Xu, Yaoxin, Li, Sheng, Yang, Chun, Chen, Qingwei, Wu, Jingyuan, Kang, Xiao
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2019
Subjects
Cubature Kalman
inertial navigation
mobile robot
odometer
position
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Summary:In order to solve the problem of low positioning accuracy of two-wheel mobile robot, a positioning method of mobile robot based on improved Cubature Kalman filter is proposed. According to the system model of two-wheel mobile robot, a positioning method which mainly uses odometer assisted by strapdown inertial navigation is designed, and the traditional Cubature Kalman filter algorithm is modified to restrain divergence and improve positioning accuracy. The experiment results show that the positioning method based on improved Cubature Kalman filter is effective and the positioning accuracy has been greatly improved.
DOI:10.1109/IHMSC.2019.10106