Bitlis Eren Üniversitesi Fen Bilimleri Dergisi

2147-3129 2147-3188

Bitlis Eren University

10.17798/bitlisfen.1565609

Mechatronics Engineering Simulation, Modelling, and Programming of Mechatronics Systems

Mekatronik Mühendisliği Mekatronik Sistemlerin Simülasyonu, Modellenmesi ve Programlanması

Object Tracking Using Lidar Data Filtered by Minimized Kalman Filter on Turtlebot3 Mobile Robot

https://orcid.org/0009-0009-8679-1141

Aldibs

Kotiba

BURSA TEKNİK ÜNİVERSİTESİ

https://orcid.org/0000-0002-3785-1795

Mısır

Oğuz

BURSA TECHNICAL UNIVERSITY

03 26 2025

14 1 179 197 10 11 2024 03 06 2025

2012

Bitlis Eren Üniversitesi Fen Bilimleri Dergisi

The 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.

Mobile Robot autonomous autonomous Kalman Filter Object Tracking

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