Economical UWB/IMU/VO Fusion for Mobile Robot Localization and Mapping in Poultry House

Abstract

This paper presents an economical fusion of ultra-wideband (UWB), inertial measurement unit (IMU), and visual odometer (VO) technologies for indoor mobile robot localization and mapping. Simultaneous localization and mapping (SLAM) technology is employed to construct maps and collaborate with the A* search algorithm for path planning. The positioning information obtained from UWB is utilized to enhance dead reckoning and minimize positioning errors. The fusion of precise distance measurements, orientation data, path information, and real-time appearance-based mapping (RTAB-Map) contributes to enhanced positioning accuracy and robustness. Experimental results showcase improved robot localization accuracy and detailed environment mapping. This collaborative approach serves as an affordable solution for various applications, including the autonomous navigation of mobile robots within poultry houses.