Trajectories optimization of mobile robotic systems using discrete Kalman filtration

Abstract

The paper deals with problem of trajectories optimization of mobile robotic systems using discrete Kalman filtration (DKF). Localization and optimization of the trajectory were performed in indoor spaces using the infrared camera StarGazer. The used Mecanum omnidirectional chassis allows great maneuverability, but the movement itself causes deflection from the desired trajectory. The minimization of these deflections was solved by generally standard procedures and then we compared them with the outputs obtained with DKF. The results were quantified and evaluated at the end of the article.