TY - JOUR
T1 - Experimental Validation
T2 - Perception and Localization Systems for Autonomous Vehicles using The Extended Kalman Filter Algorithm
AU - Widjiantoro, Bambang Lelono
AU - Indriawati, Katherin
AU - Alexander Buyung, T. S.N.
AU - Wahyuadnyana, Kadek Dwi
N1 - Publisher Copyright:
© 2024 Sciendo. All rights reserved.
PY - 2024/1/1
Y1 - 2024/1/1
N2 - This study validates EKF-SLAM for indoor autonomous vehicles by experimentally integrating the MPU6050 sensor and encoder data using an extended Kalman filter. Real-world tests show significant improvements, achieving high accuracy with just 1% and 3% errors in the X and Y axes. RPLiDAR A1M8 is utilized for mapping, producing accurate maps visualized through RViz-ROS. The research demonstrates the novelty and practical utility of EKF-SLAM in real-world scenarios, showcasing unprecedented effectiveness and precision.
AB - This study validates EKF-SLAM for indoor autonomous vehicles by experimentally integrating the MPU6050 sensor and encoder data using an extended Kalman filter. Real-world tests show significant improvements, achieving high accuracy with just 1% and 3% errors in the X and Y axes. RPLiDAR A1M8 is utilized for mapping, producing accurate maps visualized through RViz-ROS. The research demonstrates the novelty and practical utility of EKF-SLAM in real-world scenarios, showcasing unprecedented effectiveness and precision.
KW - Experimental validation
KW - extended Kalman filter
KW - ground mobile robot
KW - mapping
KW - robot operating system
KW - simultaneous localization
UR - http://www.scopus.com/inward/record.url?scp=85187296082&partnerID=8YFLogxK
U2 - 10.2478/ijssis-2024-0002
DO - 10.2478/ijssis-2024-0002
M3 - Article
AN - SCOPUS:85187296082
SN - 1178-5608
VL - 17
JO - International Journal on Smart Sensing and Intelligent Systems
JF - International Journal on Smart Sensing and Intelligent Systems
IS - 1
ER -