Optimization and Simulation of Mobile Robot Localization Algorithm Based on EKF and UKF
JIN Guo
YUAN Zhu
Abstract：In order to study the location prediction effect of Kalman filter algorithm in nonlinear system,the application re-sults of the extended Kalman filter algorithm and the unscented Kalman filter algorithm are analyzed and compared and according to the force condition of the mobile robot,the modificatory factor is introduced into the localization algorithm to improve the state esti-mation equation. The simulation results show that the location prediction effect of the unscented Kalman filter algorithm is better than that of extended Calman filter algorithm in nonlinear system and the modificatory factor produces an improvement effect on both algorithms.
Keywords：mobile robotextended Kalman filteringunscented Kalman filterlocalization algorithm improvementloca-tion prediction simulation
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：4( 1482-1484,1527 )