A Navigation system of mobile robot based on bearing measurements of beacons

The problem of navigation and control of movement of wheeled mobile robot by bearing of the reference beacons is considered. The quality criteria of controllable motion of such robots are revealed, the formalism of nonholonomic mechanics used for constructing their mathematical models is briefly considered. A mathematical model of a three-wheeled mobile robot with two independent driving wheels is presented, a navigation algorithm based on the bearing measurements to the reference beacons and extended Kalman filter is proposed. Modeling the movement of such a robot is carried out by means of MATLAB/Simulink. The results of math modeling and experimental data are presented.