Feature-Based EKF-SLAM for Differential-Drive Mobile Robots: Implementation and Parameter Sensitivity Analysis

Implementation of FEKF-SLAM on a Differential Drive Mobile Robot using a modular approach.

Evaluation of three progressive stages: motion-only localization, SLAM with predefined features, and full SLAM with dynamic feature addition.

Development and integration of observation models and their Jacobians to enable accurate state estimation and feature mapping.

Analysis of the effect of varying key parameters such as sensing range and feature update frequency on localization performance.