KALMAN FILTER APPLIED TO A DIFFERENTIAL ROBOT

Abstract

This document presents the localization problem and the trajectory that a robot must follow. It focuses on applying the Kalman filter to achieve localization and trajectory estimation in an autonomous mobile differential robot. The experimental data was obtained through tests conducted by using two incremental encoders that are part of the instrumentation of the differential robot. Data transmission is carried out from a PC, where control is performed using Matlab/Simulink software. The results are presented in graphs showing the robot's trajectory using PI control and the Kalman filter estimator in a real scenario.