Estimation and control design of mobile robot position

The mobile robot is one of the Unmanned Vehicles (UV). The mobile robot can control the moving direction by itself. The present position of mobile robot can be detected by global positioning system (GPS), the direction of moving can be controlled based on the estimation of those positions. In this paper, we estimate the one step ahead of mobile robot position by using Ensemble Kalman Filter (EnKF) and based on those estimation results, it can be controlled the one step ahead of mobile robot direction. Here, we derive dynamical model of mobile robot, and discretize respect to time. Before we apply the EnKF to estimate the position of mobile robot, we give the trajectory path, where the mobile robot will pass. We discretize the trajectory path into some segments and count the tangent of segment. We use the angle of segment tangent as drive angle. In our simulation, we apply three types of path, a linear path, a circular path and a path with corner. The EnKF is one of data assimilation methods to estimate the state variable of nonlinear dynamic stochastic system.