UTV localization from fusion of Dead -reckoning and LBL System

Localization is the key role in controlling the Mobile Robot. In this papers, a development of the sensor fusion algorithm for controling UTV(Unmanned Tracked Vehicle) is presented. The multi-sensocial dead-rocking subsystem is established based on the optimal filtering by first fusing heading angle reading from a magnetic compass, a rate-gyro and two encoders mouned on the robot wheels, thereby computing the deat-reckoned location. These data and the position data provoded by LBL system are fused together by means of an extended Kalman filter. This algorithm is proved by simulation studies.