Correction Robot pose for SLAM based on Extended Kalman Filter in a Rough Surface Environment

This research deals with mobile robot SLAM algorithm based on extended kalman filter. To enhance aaccuracy of robot pose, one more extended kalman filter is used in a rough surface environment. The robot hasuncertain kinematic model due to a caterpillar. When the robot drives on irregular surface, it’s heading can becorrupted. We propose a method to correct uncertain robot pose using one more extended kalman filter throughsimulation results