Real-Time Implementation of MEKF using VDPL Localization Algorithm by Utilizing MATLAB & ROS Communication

Ozan Vahit Altınpınar, Emre Can Contarlı, Volkan Sezer

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Mobile robots, which are produced to fulfill certain tasks to make our lives easier, are becoming more and more common in our environment day by day. In the long run, these robots can be more cost-effective, faster, and more efficient than humans in accomplishing tasks. In order for mobile robots to fulfill the tasks, they need to be able to safely navigate to specific destinations without hitting obstacles. Safely reaching a given goal most accurately and shortly is the problem of autonomy. This autonomy problem is divided into sub-problems and algorithms are needed to solve each sub-problem. The main sub-problems in the field of autonomy are localization, mapping, local planning, and global planning. The main purpose of this paper is to describe how the position information computed by a MEKF (Modified Extended Kalman Filter) localization algorithm using the VDPL (Virtual Dynamic Point Landmark) algorithm, which was previously designed in MATLAB, is published to the ROS environment via a topic. This position information can be used together with the local and global planning algorithms in the navigation stack to realize fully autonomous driving capability in a real-time environment. Using these algorithms, full-autonomous driving tests were conducted on the Turtlebot3 mobile robot in a real-time environment according to a predefined scenario. The performance results of both simulation and real-world tests show that the MEKF using the VDPL algorithm outperforms the AMCL algorithm in the navigation stack in both cases.

Original languageEnglish
Title of host publication2024 Innovations in Intelligent Systems and Applications Conference, ASYU 2024
EditorsAydin Cetin, Tulay Yildirim, Bulent Bolat
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9798350379433
DOIs
Publication statusPublished - 2024
Event2024 Innovations in Intelligent Systems and Applications Conference, ASYU 2024 - Ankara, Turkey
Duration: 16 Oct 202418 Oct 2024

Publication series

Name2024 Innovations in Intelligent Systems and Applications Conference, ASYU 2024

Conference

Conference2024 Innovations in Intelligent Systems and Applications Conference, ASYU 2024
Country/TerritoryTurkey
CityAnkara
Period16/10/2418/10/24

Bibliographical note

Publisher Copyright:
© 2024 IEEE.

Keywords

  • Autonomous robots
  • localization
  • MATLAB
  • MEKF using VDPL
  • ROS

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