Position estimation and path-tracking for wheeled mobile robots with nonholonomic constraints

Nonholonomic 제약을 가지는 구륜 이동 로보트의 위치추정과 경로추적

This paper proposes position estimation and path-tracking of a wheeled-mobile robot(WMR). Odometry and two distance measuring sensors are used to measure distance between guide wall and body and to locate its own position. And extended Kalman filter is introduced to fusion sensors and reduce noise. State feedback controller using the estimated position and path-tracking miles guidance control system. The computer simulation shows that proposed algorithm is well coincide with theoretical approach.