Estimation of Optimum Robot Heading Using Savitzky-Golay and Kalman Filters

Anand Krishnamoorthy, Girish Kumar

Abstract


Determination of robot heading angle is imperative in mobile robot navigation and localization. The raw sensor data from MEMS IMUs are noisy and prone to drifting. This paper presents a methodology for constructing an optimum estimate for the heading angle by employing two filters—Savitzky-Golay and Kalman filter to fuse magnetometer and gyroscope data. For the evaluation of the proposed method, a mobile robot was constructed with a control board consisting of MEMS IMUs and Arduino controller. The experimental results illustrate the performance of the filters for noisy sensor measures.

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DOI: https://doi.org/10.37628/ijra.v1i2.25

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