Engineering of Autonomous Mobile Field Robot -Validating Precision in Self-Localization via Simulation-

Abstract

In recent times, the escalation of marine debris has emerged as a formidable challenge, particularly in its retrieval. Among this, coastal debris, which falls under the broader category of marine debris, can indeed be manually picked up, yet the diversity in its forms and sizes limits the efficiency of solely human retrieval efforts. In response to this issue, my research concentrated on the development of an autonomous mobile robot. This study zeroes in on the critical task of self-localization, a fundamental requirement for autonomous navigation. Within our simulation, we meticulously recreated a real-world coastal cleanup site and assessed the self-localization precision utilizing an Extended Kalman Filter (EKF) alongside various sensors.