OBJECT TRACKING USING LIDAR DATA FILTERED BY MINIMIZED KALMAN FILTER ON TURTLEBOT3 MOBILE ROBOT

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dc.contributor.authorAldıbs, Kotıba
dc.contributor.authorMısır, Oğuz
dc.date.accessioned2026-02-08T15:08:08Z
dc.date.available2026-02-08T15:08:08Z
dc.date.issued2025
dc.departmentBursa Teknik Üniversitesi
dc.description.abstractThe development of autonomous vehicles requires high accuracy and precision in sensor data for effective interaction with the environment and execution of functions. Processing this data with efficient algorithms positively influences vehicle decision-making. In this study, the TurtleBot3 platform, an ideal simulation model for autonomous vehicles, is used to detect and track nearby objects in the sub-system Robotic Operating System (ROS) Noetic environment. The lidar sensor data from this platform is refined using interpolation and a minimized Kalman filter to remove noise and irregularities. This approach provides clearer and more reliable measurement data, resulting in more stable and fine-tuned responses in the vehicle's motion planning. Compared to the general Kalman filter theory, this method offers faster implementation without relying on the exact error tolerance of the sensor to provide acceptable results.
dc.identifier.doi10.17798/bitlisfen.1565609
dc.identifier.endpage197
dc.identifier.issn2147-3129
dc.identifier.issn2147-3188
dc.identifier.issue1
dc.identifier.startpage179
dc.identifier.trdizinid1309880
dc.identifier.urihttps://doi.org/10.17798/bitlisfen.1565609
dc.identifier.urihttps://hdl.handle.net/20.500.12885/4826
dc.identifier.volume14
dc.indekslendigikaynakTR-Dizin
dc.language.isoen
dc.relation.ispartofBitlis Eren Üniversitesi Fen Bilimleri Dergisi
dc.relation.publicationcategoryMakale - Ulusal Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzKA_TR-Dizin_20260207
dc.subjectMobile Robot
dc.subjectKalman filter
dc.subjectAutonomous
dc.subjectObject tracking.
dc.titleOBJECT TRACKING USING LIDAR DATA FILTERED BY MINIMIZED KALMAN FILTER ON TURTLEBOT3 MOBILE ROBOT
dc.typeArticle

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