Abstract
Extended Kalman filter is applied to the estimation of robot vehicle position with optical and wheel measurements. Measurement of wheel rotation is used to compute its nominal trajectory. A model that a contact point of a wheel with floor changes randomly is introduced to obtain a state equation with respect to the deviation. A fast slit-pattern measurement using a TV camera is formulated as an observation equation. Then, a Kalman filter and a fixed point smoother are constructed. Several experiments are conducted to evaluate the accuracy of estimated trajectory.
