A Comparative Study on the Accuracy of Mobile Robot Localization Techniques: Extended Kalman Filter versus Weighted Nonlinear Least Squares

Mobile robot localisation is the process of determining the robot locations within its environment. Applying data collection by sensors to achieve localisation is the most fundamental ability required by a mobile robot. This article is to studies the technology of mobile robot localisation and analyse the accuracy of the localisation technology. Two methods of the extended Kalman filter and weighted nonlinear least squares will be introduced in this paper. In the end, the results of both methods will be compared in order to make the discussion about which method should be more precise.