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

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

doi:10.2478/ijssis-2024-0002

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

International Journal on Smart Sensing and Intelligent Systems

Volume 17 (2024): Issue 1 (January 2024)

By: Bambang Lelono Widjiantoro, Katherin Indriawati, T. S. N. Alexander Buyung and Kadek Dwi Wahyuadnyana

Open Access

|Feb 2024

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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Articles in this issue

DOI: https://doi.org/10.2478/ijssis-2024-0002 | Journal eISSN: 1178-5608

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Language: English

Submitted on: Aug 28, 2023

Published on: Feb 7, 2024

Published by: International Journal on Smart Sensing and Intelligent Systems

In partnership with: Paradigm Publishing Services

Publication frequency: 1 issue per year

Keywords:

Experimental validation,

extended Kalman filter,

ground mobile robot,

robot operating system,

simultaneous localization and mapping

Related subjects:

Engineering,

Introductions and overviews,

Engineering, other

© 2024 Bambang Lelono Widjiantoro, Katherin Indriawati, T. S. N. Alexander Buyung, Kadek Dwi Wahyuadnyana, published by International Journal on Smart Sensing and Intelligent Systems
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Volume 17 (2024): Issue 1 (January 2024)