Investigation of ROS based environment modelling and mobile robot position estimation with dead reckoning and uncertainties
This paper aims to investigate Robot Operating System (ROS) based environment modelling and mobile robot position estimation considering dead reckoning and uncertainties. A mobile robot movement is analyzed in a few environment conditions by using Extended Kalman Filter with ROS to identify and exam...
| Main Authors: | , , , , |
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| Format: | Conference or Workshop Item |
| Language: | English English |
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Institute of Electrical and Electronics Engineers Inc.
2021
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| Online Access: | http://umpir.ump.edu.my/id/eprint/42392/ http://umpir.ump.edu.my/id/eprint/42392/1/Investigation%20of%20ROS%20based%20environment%20modelling.pdf http://umpir.ump.edu.my/id/eprint/42392/2/Investigation%20of%20ROS%20based%20environment%20modelling%20and%20mobile%20robot%20position%20estimation%20with%20dead%20reckoning%20and%20uncertainties_ABS.pdf |
| _version_ | 1848826599344963584 |
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| author | Hamzah, Ahmad Mohamad Heerwan, Peeie Mohd Syakirin, Ramli Amir Akramin, Shafie Mohd Hezri Fazalul, Rahiman |
| author_facet | Hamzah, Ahmad Mohamad Heerwan, Peeie Mohd Syakirin, Ramli Amir Akramin, Shafie Mohd Hezri Fazalul, Rahiman |
| author_sort | Hamzah, Ahmad |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | This paper aims to investigate Robot Operating System (ROS) based environment modelling and mobile robot position estimation considering dead reckoning and uncertainties. A mobile robot movement is analyzed in a few environment conditions by using Extended Kalman Filter with ROS to identify and examined the mobile robot estimation performance on its surroundings. The heading angle and initial state covariance performance are assessed with different mobile robot movement. The paper is organized mainly to describe the results from both simulation and experiment using Extended Kalman Filter that consists of undetermined and unpredictable environment states. For experimental verification, a Turtlebot3 equipped with a 360-degree LiDAR and IMU is being applied to demonstrate the performance of estimation in a situation that has unknown uncertainties in several conditions. Both simulation and experimental results indicates that state covariance is converging lesser than the initial state covariance in any environmental cases which is in contrast with the literatures. Besides, it is also found that the mobile robot heading angle is important to be accurate at all times for better estimation results. |
| first_indexed | 2025-11-15T03:47:23Z |
| format | Conference or Workshop Item |
| id | ump-42392 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-15T03:47:23Z |
| publishDate | 2021 |
| publisher | Institute of Electrical and Electronics Engineers Inc. |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-423922024-10-30T04:40:00Z http://umpir.ump.edu.my/id/eprint/42392/ Investigation of ROS based environment modelling and mobile robot position estimation with dead reckoning and uncertainties Hamzah, Ahmad Mohamad Heerwan, Peeie Mohd Syakirin, Ramli Amir Akramin, Shafie Mohd Hezri Fazalul, Rahiman T Technology (General) TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering TL Motor vehicles. Aeronautics. Astronautics This paper aims to investigate Robot Operating System (ROS) based environment modelling and mobile robot position estimation considering dead reckoning and uncertainties. A mobile robot movement is analyzed in a few environment conditions by using Extended Kalman Filter with ROS to identify and examined the mobile robot estimation performance on its surroundings. The heading angle and initial state covariance performance are assessed with different mobile robot movement. The paper is organized mainly to describe the results from both simulation and experiment using Extended Kalman Filter that consists of undetermined and unpredictable environment states. For experimental verification, a Turtlebot3 equipped with a 360-degree LiDAR and IMU is being applied to demonstrate the performance of estimation in a situation that has unknown uncertainties in several conditions. Both simulation and experimental results indicates that state covariance is converging lesser than the initial state covariance in any environmental cases which is in contrast with the literatures. Besides, it is also found that the mobile robot heading angle is important to be accurate at all times for better estimation results. Institute of Electrical and Electronics Engineers Inc. 2021 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/42392/1/Investigation%20of%20ROS%20based%20environment%20modelling.pdf pdf en http://umpir.ump.edu.my/id/eprint/42392/2/Investigation%20of%20ROS%20based%20environment%20modelling%20and%20mobile%20robot%20position%20estimation%20with%20dead%20reckoning%20and%20uncertainties_ABS.pdf Hamzah, Ahmad and Mohamad Heerwan, Peeie and Mohd Syakirin, Ramli and Amir Akramin, Shafie and Mohd Hezri Fazalul, Rahiman (2021) Investigation of ROS based environment modelling and mobile robot position estimation with dead reckoning and uncertainties. In: IEACon 2021 - 2021 IEEE Industrial Electronics and Applications Conference. 2nd IEEE Industrial Electronics and Applications Conference, IEACon 2021 , 22 - 23 November 2021 , Virtual, Online. pp. 19-24.. ISBN 978-172819253-6 (Published) https://doi.org/10.1109/IEACon51066.2021.9654762 |
| spellingShingle | T Technology (General) TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering TL Motor vehicles. Aeronautics. Astronautics Hamzah, Ahmad Mohamad Heerwan, Peeie Mohd Syakirin, Ramli Amir Akramin, Shafie Mohd Hezri Fazalul, Rahiman Investigation of ROS based environment modelling and mobile robot position estimation with dead reckoning and uncertainties |
| title | Investigation of ROS based environment modelling and mobile robot position estimation with dead reckoning and uncertainties |
| title_full | Investigation of ROS based environment modelling and mobile robot position estimation with dead reckoning and uncertainties |
| title_fullStr | Investigation of ROS based environment modelling and mobile robot position estimation with dead reckoning and uncertainties |
| title_full_unstemmed | Investigation of ROS based environment modelling and mobile robot position estimation with dead reckoning and uncertainties |
| title_short | Investigation of ROS based environment modelling and mobile robot position estimation with dead reckoning and uncertainties |
| title_sort | investigation of ros based environment modelling and mobile robot position estimation with dead reckoning and uncertainties |
| topic | T Technology (General) TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering TL Motor vehicles. Aeronautics. Astronautics |
| url | http://umpir.ump.edu.my/id/eprint/42392/ http://umpir.ump.edu.my/id/eprint/42392/ http://umpir.ump.edu.my/id/eprint/42392/1/Investigation%20of%20ROS%20based%20environment%20modelling.pdf http://umpir.ump.edu.my/id/eprint/42392/2/Investigation%20of%20ROS%20based%20environment%20modelling%20and%20mobile%20robot%20position%20estimation%20with%20dead%20reckoning%20and%20uncertainties_ABS.pdf |