MOBILEROBOT POSITIONDETERMINATIONUSINGDATA INTEGRATIONOFODOMETRY AND GYROSCOPE

Theobjective istoaccurately determine mobile robots position andorientation byintegrating information received fromodometry andaninertial sensor. Theposition andorientation provided byodometry are subject todifferent types oferrors. Toimprove theodometry, afiber optic gyroscope isusedtogivethe orientation information that ismorereliable. Theinformation fromodometry andgyroscope areintegrated using Unscented KalmanFilter (UKF). Theposition andorientation determined basedontheUKF are compared withtheresults obtained fromthecommonly usedExtended KalmanFilter (EKF).

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