Scribd
Upload
3 views5 pages

CNR_3 (1)

The document outlines an experiment on EKF localization for a mobile robot navigating in a 2D environment with known landmarks. It details the implementation using MATLAB, including the robot's pose estimation and the effects of noise on its trajectory. The results demonstrate the effectiveness of the EKF algorithm in accurately tracking the robot's position despite uncertainties.

Uploaded by

tanwarhansika
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
3 views5 pages

CNR_3 (1)

The document outlines an experiment on EKF localization for a mobile robot navigating in a 2D environment with known landmarks. It details the implementation using MATLAB, including the robot's pose estimation and the effects of noise on its trajectory. The results demonstrate the effectiveness of the EKF algorithm in accurately tracking the robot's position despite uncertainties.

Uploaded by

tanwarhansika
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 5

NETAJI SUBH A S UNIVERSITY OF

CONTROL AND NAVIGATION IN ROBOTICS


COURSE CODE: - ICICE20

SESSION:2024-2025

SUBMITTED TO: Mrs. ASHA RANI


SUBMITTED BY: HANSIKA TANWAR
BRANCH & SECTION: ICE-(2)
ROLL NO.: 2022UIC3656
EXPERIMENT- 3
OBJECTIVE: Obtain the robot pose while moving on the map.
Use EKF localization.
Software used: - MATLAB

Introduction:
In this experiment, we implement Extended Kalman Filter (EKF) based
localization of a mobile robot navigating in a 2D plane with known landmarks.
The robot starts from an initial pose and moves with given linear and angular
velocities. Its path is estimated using noisy control inputs and noisy
rangebearing measurements to the landmarks. EKF is used to correct the
robot's belief about its position by fusing prediction from the motion model
and observation model. The environment includes four known landmarks, and
the robot continuously updates its pose using sensor observations in a loop.
This variation of the code uses:
• Modified initial pose
• Higher motion and measurement noise
• Increased velocity
• Different landmark positions
• Longer simulation time
CODE:
OUTPUT:
SIMULATION RESULTS
After running the EKF localization algorithm for 250 steps (T = 25s, dt = 0.1s),
we obtain the robot's estimated path. The following observations were made:
• The estimated trajectory (shown in magenta) closely follows the actual
path the robot would take under the motion model.
• The robot successfully localizes itself by correcting its estimated pose
using landmark measurements.
• All four landmarks are shown as black square markers.
• The path is smooth, with slight fluctuations due to noise and correction
by the EKF.

CONCLUSION:
The EKF localization algorithm successfully tracks the robot's pose in a 2D
environment with known landmarks. Even with increased noise and modified
motion dynamics, the filter corrects the robot’s estimated path using observed
landmark measurements. The experiment demonstrates the robustness of EKF
for localization in uncertain and noisy conditions. This forms the basis for more
advanced autonomous navigation and SLAM systems.

You might also like