Simulation of the control of a rover-type mobile robot based on sensor fusion using a particle filter
Abstract
Robot mobile navigation algorithms use position control systems to perform tasks such as exploration, trajectory tracking, search, and rescue, among others. However, the implementation of these algorithms involves sensors such as GPS, whose accuracy depends on external factors such as weather, as well as its operation can be affected by the position of satellites, discovering position errors. As a solution to the above, this work proposes a control system based on sensor fusion through the particle filter that allows improving the navigation of a rover-type mobile robot, achieving greater precision in navigation, reducing the vulnerability of the system, increasing reliability and fault tolerance, and increased confidence in measurements. Finally, the results of the fusion of 5 sensors, the kinematic model of the robot and the PID position control for a path from an initial to a final position are shown.
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References
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