SYSTEM AND METHOD FOR DYNAMIC LOCALIZATION OF WHEELED MOBILE ROBOTS

摘要

A wheeled mobile robot having a laser based sensor and method for dynamically correcting the estimate of the Extended Kalman Filter, used in determining a position and orientation of the WMR based on data representing a measurements effectuated by the laser-based sensor. The dynamic correction of the estimate of the EKF does not require a priori knowledge of the medium surrounding the WMR.