Pose State Estimate of Mobile Robots Based on Nonlinear Filters

The issue of pose state estimate of mobile robots based on extended Kalman filter(EKF) and particle filter is studied.Because EKF must assume that the noise is subject to Gaussian distribution,the estimate accuracy is not so good if it is used to estimate the state of complicated nonlinear system.Particles filter(PF) has no restriction to the noise type and it is an effective approximate method for the state estimate of nonlinear systems.Under various noise conditions,the comparative studies for the pose st...