Project

Robot path planning and tracking of a moving target using Kalman filter

This project develops a method for path planning and tracking of a moving target by a wheeled robot. The main kinematics variables updated in each step are the orientation and relative position of the robot and the target. A discrete extended Kalman filter is used to predict and update the states of the robot and the target and their uncertainties. The robot uses a linear proportional navigation law to track the target. Simulation of the motion kinematics of robot and the target is performed using MATLAB. It is shown using multiple simulation scenarios that the robot is able to track and reach the moving goal successfully.

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