Title: A path planning algorithm of intelligent transportation robot based on extended Kalman filter

Authors: Guan He; Honglan Yang

Addresses: Department of Electronic Engineering, Anhui Wenda University of Information Engineering, He'fei 231201, China ' Department of Electronic Engineering, Anhui Wenda University of Information Engineering, He'fei 231201, China

Abstract: Aiming at the problem of long calculation time and slow response speed of traditional intelligent transportation robot path planning algorithm, an intelligent transportation robot path planning algorithm based on extended Kalman filter is proposed. By analysing the relevant principles of optical flow localisation, aiming at the fact that a single optical flow sensor can not meet the needs of all application scenarios, multiple optical flow sensors are fused through extended Kalman filter, and the system model and observation model of intelligent transportation robot are established at the same time. The optical flow sensor is fixed on the intelligent transportation robot, the two-dimensional coordinates of the intelligent transportation robot are obtained in real time, and the moving path is planned. The results show that the proposed algorithm can reduce the operation time and improve the response efficiency.

Keywords: extended Kalman filter; intelligent transportation robot; path planning algorithm; observation model.

DOI: 10.1504/IJMTM.2023.133466

International Journal of Manufacturing Technology and Management, 2023 Vol.37 No.3/4, pp.211 - 226

Received: 16 Dec 2021
Received in revised form: 09 Feb 2022
Accepted: 29 Jun 2022
Published online: 17 Sep 2023 *

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