Che Hassan, Farah Hazwani (2015) Analysis of robot localisation performance based on extended kalman filter. Masters thesis, Universiti Tun Hussein Onn Malaysia.
![[img]](http://eprints.uthm.edu.my/style/images/fileicons/text.png) |
Text (Copyright Declaration)
FARAH HAZWANI CHE HASSAN COPYRIGHT DECLARATION.pdf Restricted to Repository staff only Download (2MB) | Request a copy |
|
|
Text (24 pages)
24p FARAH HAZWANI CHE HASSAN.pdf Download (1MB) | Preview |
|
|
Text (Full Text)
FARAH HAZWANI CHE HASSAN WATERMARK.pdf Restricted to Registered users only Download (3MB) | Request a copy |
Abstract
This thesis presents the Simultaneous Localization and Mapping (SLAM) problem for a mobile robot in an unknown indoor environment. A most current localisation algorithm has less flexibility and autonomy because it depends on human to determine what aspects of the sensor data to use in localisation. To improve the localisation accuracy for a mobile robot, the Extended Kalman Filter (EKF) algorithm is used to achieve the required robustness and accuracy. EKF is a technique from estimation theory that combines the information of different uncertain sources to obtain the value of variables. However, there are a number of variations of EKF with different values of variables, which lead to contradicting results in terms of standard deviations of path (distance) and angle. This project is implemented based on the existing localisation algorithm [30]. There are two types of results that have been analysed in this paper. First is the performance of the algorithm using different parameters in which different velocities and number of landmarks have been used to determine the accuracy of the localisation method. Second is comparing the performance of update approaches of filters namely Kalman Filter Joseph, Kalman Filter Cholesky and Kalman Filter Update in different scenarios. MATLAB coding [30] is used to run the simulation of update approaches of filters. Finding the best variation and a good choice of variables are important factors to have acceptable results consistently.
| Item Type: | Thesis (Masters) |
|---|---|
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) |
| Divisions: | Faculty of Electrical and Electronic Engineering > Department of Electrical Engineering |
| Depositing User: | Mrs. Nur Nadia Md. Jurimi |
| Date Deposited: | 03 Oct 2021 06:21 |
| Last Modified: | 03 Oct 2021 06:21 |
| URI: | http://eprints.uthm.edu.my/id/eprint/1313 |
Actions (login required)
 |
View Item |