A study on real time circular motion in robots using Kalman filters

Abstract

This paper presents a more detailed design method of Q and R when the mobile robots move in circular motions: It through measuring and comparing the displacement difference of broken- line motions and circular motions within a relatively short time interval t to determine the value of Q at the same time using the mean of measurement error as the value of R. The results show that this way of design can effectively reduce the error of the trajectory.