Mobile Robot Navigation Error Handling Using an Extended Kalman Filter

Obviously navigation is one of the most complicated issues in mobile robots. Intelligent algorithms are often used for error handling in robot navigation. This Paper deals with the problem of Inertial Measurement Unit (IMU) error handling by using Extended Kalman Filter (EKF) as an Expert Algorithms. Our focus is put on the field of mobile robot navigation in the 2D environments. The main challenge in this issue is to keep track of the position and orientation within a global frame of reference using a variety of sensors providing Dead-Reckoned Odometry, Inertial and Absolute data.