An Effective SLAM for Autonomous Mobile Robot Navigation in Irregular Surface using Redundant Extended Kalman Filter

추가적 확장 칼만 필터를 이용한 불규칙적인 바닥에서 자율 이동 로봇의 효율적인 SLAM

This paper proposes an effective SLAM based on redundant extended Kalman filter for robot navigation in an irregular surface to enhance the accuracy of robot's pose. To establish an accurate model of a caterpillar type robot is very difficult due to the mechanical complexity of the system which results in highly nonlinear behavior. In addition, for robot navigation on an irregular surface, its control suffers from the uncertain pose of the robot heading closely related to the condition of the floor. We show how this problem can be overcome by the proposed approach based on redundant extended Kalman filter through some computer simulation results.