Akademik Veri Yönetim Sistemi
18th International Multidisciplinary Scientific Geoconference, SGEM 2018, Albena, Bulgaristan, 2 - 08 Temmuz 2018, cilt.18, ss.157-162, (Tam Metin Bildiri)
Localisation and navigation are essential tasks for a mobile robot. If a mobile robot knows where it is, then it can make a plan to reach its destination. Localisation and navigation processes are not isolated from each other, they are closely linked. In fact, the ability for a mobile robot to localise itself is a basic requirement for reliable long-range autonomous navigation. Using sensory information about its environment, the mobile robot can perform actions dependent on this sensory information and navigate around. Although highly accurate localisation and mapping using low-cost hardware is very difficult, the emergence of new sensor technologies and development of state-of-the-art localisation and navigation algorithms help researchers and practitioners to realise their goals. In this study we evaluate the effects of speed and measurement variance on the accuracy of mobile robot localisation. As the results of our simulation studies prove, increasing speed and measurement variance of a mobile robot results in higher position error and velocity error. This indicates that high robot speed and high measurement variances may significantly reduce the accuracy of localisation algorithms.