title: Tracking a robot in circular motion using Kalman Filter
body: <p><strong>What I'm trying to do:</strong></p>
  
  <ul>
  <li>Localize the robot moving in a circular motion using Kalman Filter or Extended Kalman Filter</li>
  <li>Using trigonometry and linear algebra, I am able to predict a "circular motion," but I wanted to find out if I can use the Kalman Filter to localize the robot <em>(without assuming it's in the circular motion)</em></li>
  <li>The robot senses its coordinate (x, y).</li>
  </ul>
  
  <p><strong>What I'm having a trouble with:</strong></p>
  
  <ul>
  <li>The state vectors from Kalman Filter converges to the center of the circle</li>
  <li>The Kalman Filter fails to find the true positions</li>
  <li>Screenshot: <a href="https://i.stack.imgur.com/ejtSr.png" rel="nofollow noreferrer">Robot vs Kalman Filter</a></li>
  </ul>
  
  <p><strong>My code Implementation</strong></p>
  
  <ul>
  <li><a href="https://gist.github.com/kkweon/89fcf07705a3e4f68179362912e164e4" rel="nofollow noreferrer">Gist Link</a></li>
  </ul>