Rashid Ali,Muhammad Arshad,



Extended Kalman Filter,Unscented Kalman Filter,localization, odometry,encoder,optical mouse sensor,


This research analyzes the design and simulation of a mobile robot using Extended Kalman Filter (EKF) and Unscented Kalman filter (UKF). The mobile platform has a differential configuration, where each track of a wheel is associated with an encoder. The EKF and UKF methods are used to integrate the measurements of a novel odometric system based on the optical mice and the measurements of a localization system based on a map of geometric beacons. Two different types of simulations have been performed for validating the results, either using the mouse-based odometric system or using the conventional wheel encoder-based odometric system, to compare and evaluate the errors made by each system.


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