Indoor Mobile Robot Positioning using Sensor Fusion

Abstract

In this research, a low-cost positioning sensor fusion system is investigated. In which, the Ultra-wide-band system combined with IMU and robot wheel odometry are employed to improve the accuracy and resolution of robot localization by using the Extended Kalman Filter. Simulation and experimental results are carried out to validate the proposed framework. The results show the effectiveness of the method with low cost, real-time, and robustness, centimeter- level positioning accuracy.