An accurate localization for mobile robot using extended Kalman filter and sensor fusion

Abstract

This paper presents an accurate localization scheme for mobile robots based on the fusion of an ultrasonic satellite (U-SAT) with inertial navigation system (INS), i.e., sensor fusion. Our aim is to achieve an accuracy of less than 100 mm. The INS consists of a yaw gyro and two wheel-encoders, and the U-SAT consists of four transmitters and a receiver. Besides the proposed localization method, we will fuse these in an extended Kalman filter. The performance of the localization was verified by simulation and two actual data sets (straight and curve) gathered from about 0.5 m/s of actual driving data. The localization methods used were general sensor fusion and sensor fusion through a Kalman filter using data from the INS. Through simulation and actual data analysis, the experiment shows the effectiveness of the proposed method for autonomous mobile robots.