Experimental Validation: Perception and Localization Systems for Autonomous Vehicles using the Extended Kalman Filter Algorithm

Widjiantoro, Bambang Lelono; Indriawati, Katherin; Alexander Buyung, T. S. N.; Wahyuadnyana, Kadek Dwi

doi:10.2478/ijssis-2024-0002

Abstract

This study validates EKF-SLAM for indoor autonomous vehicles by experimentally integrating the MPU6050 sensor and encoder data using an extended Kalman filter. Real-world tests show significant improvements, achieving high accuracy with just 1% and 3% errors in the X and Y axes. RPLiDAR A1M8 is utilized for mapping, producing accurate maps visualized through RViz-ROS. The research demonstrates the novelty and practical utility of EKF-SLAM in real-world scenarios, showcasing unprecedented effectiveness and precision.

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Experimental Validation: Perception and Localization Systems for Autonomous Vehicles using the Extended Kalman Filter Algorithm

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