The estimation of the pose of a differential drive mobile robot from noisy odometer, compass and beacon distance measurements is studied. The estimation problem, which is a state estimation problem with unknown input, is reformulated into a state estimation problem with known input and a process noise …

An important issue in the field of motion control of wheeled mobile robots is that the design of most controllers is based only on the robot’s kinematics. However, when high-speed movements and/or heavy load transportation are required, it becomes essential to consider the robot dynamics as well. The …