Mobile Robot Positioning Method Based on Improved Cubature Kalman Filter

Abstract

In order to solve the problem of low positioning accuracy of two-wheel mobile robot, a positioning method of mobile robot based on improved Cubature Kalman filter is proposed. According to the system model of two-wheel mobile robot, a positioning method which mainly uses odometer assisted by strapdown inertial navigation is designed, and the traditional Cubature Kalman filter algorithm is modified to restrain divergence and improve positioning accuracy. The experiment results show that the positioning method based on improved Cubature Kalman filter is effective and the positioning accuracy has been greatly improved.