Robot Position Tracking Using Kalman Filter

摘要

Abstract—the objective of the presented work is to implement the Kalman Filter in an application in an environment for the position in a mobile robot's movement. The estimated position of a robot was determined, applying the Kalman Extended Filter, using the data of the sensors by means of a system of global positioning (GPS), using a simulation in Matlab and animation program made in Delphi, with examples of time of 1hz and for 628 seconds, in which the robot can have communication in the circulate complete of movement. The analysis of the simulation is given with parameters of speed translational, rotational and noise of the process, and the error of the positioning sensor has as maximum 19.7 inch. Based on the results of the study, from the figures can be seen that despite of the errors in measurements, the filter can perform quite well in estimate, the robot's true position.